U.S. patent application number 16/502834 was filed with the patent office on 2019-10-24 for systems and methods for autonomously altering shape and functionality of on-road vehicles.
The applicant listed for this patent is Moshe Salhov, Gal Zuckerman. Invention is credited to Moshe Salhov, Gal Zuckerman.
Application Number | 20190322204 16/502834 |
Document ID | / |
Family ID | 68237275 |
Filed Date | 2019-10-24 |
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United States Patent
Application |
20190322204 |
Kind Code |
A1 |
Zuckerman; Gal ; et
al. |
October 24, 2019 |
Systems and methods for autonomously altering shape and
functionality of on-road vehicles
Abstract
Methods and systems for autonomously altering shape and
functionality of on-road vehicles. An on-road autonomous vehicle,
which is currently integrated with a first object and thus having a
respective certain functional shape, performs a respective certain
function. A request is obtained to alter functionality of the
on-road vehicle, which consequently releases autonomously the first
object, self drives to a location of a second object, and
self-integrates with the second object by straddling-over and
grabbing the second object, thus switching to a different
functional shape and consequently accomplishing said alteration of
functionality.
Inventors: |
Zuckerman; Gal; (Holon,
IL) ; Salhov; Moshe; (Herzeliya, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Zuckerman; Gal
Salhov; Moshe |
Holon
Herzeliya |
|
IL
IL |
|
|
Family ID: |
68237275 |
Appl. No.: |
16/502834 |
Filed: |
July 3, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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15898473 |
Feb 17, 2018 |
10384871 |
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16502834 |
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62473436 |
Mar 19, 2017 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60P 1/6445 20130101;
G05D 1/021 20130101; B60L 53/53 20190201; B60G 2401/142 20130101;
G05D 2201/0212 20130101; G05D 1/0291 20130101; G05D 1/0088
20130101; B60P 3/007 20130101; B60G 17/00 20130101; B60P 3/22
20130101; B60P 1/02 20130101; B60G 2401/174 20130101; B60P 3/0257
20130101; B60L 53/54 20190201; B60G 2300/02 20130101; B60G 2500/30
20130101; B60P 1/025 20130101; G05D 2201/0213 20130101 |
International
Class: |
B60P 1/64 20060101
B60P001/64; G05D 1/02 20060101 G05D001/02; B60P 1/02 20060101
B60P001/02; B60G 17/00 20060101 B60G017/00; G05D 1/00 20060101
G05D001/00 |
Claims
1. A system operative to autonomously alter functionality of an
on-road vehicle, comprising: an on-road vehicle operative to
straddle over objects; a first object operative to facilitate a
first function when integrated with the on-road vehicle, in which
the first object is currently integrated with the on-road vehicle,
thereby currently enabling the on-road vehicle together with the
first object to perform said first function; and a second object
operative to facilitate a second function when integrated with the
on-road vehicle, in which the second object is currently located at
a certain location; wherein, as a response to a specific request
received in the system, the system is configured to autonomously
alter functionality of the on-road vehicle from a first
functionality associated with the first function into a different
functionality associated with the second function, in which as a
part of said autonomous alteration and said response, the on-road
vehicle is configured to: release autonomously the first object;
self drive from a current location of the on-road vehicle to said
certain location of the second object; upon arrival to said certain
location: straddle autonomously over the second object, thereby
allowing the on-road vehicle to grab and lift autonomously the
second object above ground, thereby integrating autonomously the
second object with the on-road vehicle; and perform said second
function in conjunction with the second object now integrated with
the on-road vehicle.
2. The system of claim 1, wherein: the first object is essentially
a first type of container having a surface with a first type of
interface, in which the first type of interface is operative to
facilitate a certain first way of interfacing with people; and the
second object is essentially a second type of container having a
surface with a second type of interface, in which the second type
of interface is operative to facilitate a certain second way of
interfacing with people.
3. The system of claim 2, wherein: the first type of container is a
container operative to contain packages in drawers; the first
function is autonomous package delivery; the first type of
interface is associated with at least one of the drawers getting
opened; the first way of interfacing with people comprises people
accessing the drawers and collecting a package delivered by the
on-road vehicle; and the first function of autonomous package
delivery is facilitated by said integration of the first object
with the on-road vehicle, in which said integration enables the
system to both: (i) facilitate said delivery by driving
autonomously the on-road vehicle with packages onboard, and (ii)
facilitate said collection of the packages by people accessing the
drawers.
4. The system of claim 3, wherein: the second type of container is
a container operative to accommodate passengers; the second
function is an autonomous taxi service; the second type of
interface is associated with a door operative to allow the
passengers getting into and out-of the second type of container;
the second way of interfacing with people comprises people opening
and closing the door; and the second function of autonomous taxi
service is facilitated by said integration autonomously of the
second object with the on-road vehicle, in which said integration
autonomously enables the system to both: (i) facilitate said taxi
service by autonomously transporting the passengers by the on-road
vehicle and in conjunction with the second object, and (ii) further
facilitate said taxi service by said allowing the passengers to get
into and out-of the second type of container using the door.
5. The system of claim 4, wherein said lifting autonomously of the
second object above ground is done so as to position the door at a
certain height above ground that is operative to allow said
passengers getting into and out-of the second type of container, in
which said certain height is between 20 (twenty) centimeters and 70
(seventy) centimeters above ground.
6. The system of claim 1, wherein: the second object is selected
from a group consisting of: (i) a container operative to contain
packages in drawers, in which the second function is autonomous
package delivery, (ii) a container operative to accommodate
passengers, in which the second function is a taxi service, (iii) a
container operative to contain a load, in which the second function
is transporting loads, (iv) a power source such as battery, a fuel
cell, and a generator, in which the second function is charging the
on-road vehicle while on the move, (v) a mobile vending machine, in
which the second function is selling goods at different locations,
(vi) a tank, in which the second function is transporting
substances such as liquids and compressed gas, (vii) transportable
electronic communication equipment such as a radio access network
(RAN), in which the second function is providing electronic
communication services from different locations.
7. The system of claim 1, wherein: the on-road vehicle comprises:
an upper horizontal structure elevated above ground by vertical
structures mounted on at least four wheels touching ground, so as
to create a certain clearance above ground for at least a first
connector associated with the upper horizontal structure and
attached thereunder; a control sub-system comprising a processing
unit and a plurality of sensors and actuators, in which the control
sub-system is configured to generate, in real-time, a
three-dimensional representation of surrounding environment using
data collected by the plurality of sensors; and at least a first
linear actuator configured to control and set said certain
clearance of the first connector, by causing the first connector,
or the entire upper horizontal structure including the first
connector, to move up or down relative to ground; wherein the
control sub-system is further configured to use said
three-dimensional representation, said actuators, and said
processing unit in conjunction with a set of public-road
self-driving directives, to: (i) facilitate said self-driving of
the on-road vehicle, over public roads and alongside regular car
traffic, to said certain location, (ii) position the on-road
autonomous vehicle in front of the second object, and (iii)
facilitate said straddling of the on-road vehicle over the second
object, such that said first connector is brought to a
predetermined position over the second object; and the control
sub-system is further configured to use the first linear actuator
to: (i) facilitate said grabbing by lowering the first connector
into mechanical contact with the second object thereby allowing the
connector to connect to or otherwise grab the second object, and
(ii) facilitate said lifting by lifting the second object above
ground into a position operative to self-transport the second
object.
8. The system of claim 7, wherein said first liner actuator is a
distributed linear actuator comprising several sub-actuators, in
which each sub-actuator is associated with one of the wheels, such
that the entire upper horizontal structure is operative to move up
and down relative to the wheels and ground, in which the linear
actuators are also operative to act as springs/mechanical dumpers
for the wheels relative to the upper horizontal structure.
9. The system of claim 7, wherein said first liner actuator is
embedded in the first connector, thereby causing only the connector
to move up and down relative to ground, and such that the upper
horizontal structure remains in place.
10. The system of claim 1, wherein said integration of the first
object with the on-road vehicle was previously achieved by the
on-road vehicle by performing a previous autonomous maneuver as a
response to a particular request received in the system, in which
as part of the previous autonomous maneuver, the on-road vehicle is
configured to: self drive from a previous location of the on-road
vehicle to a specific location at which the first object is
located; upon arrival to said specific location: straddle
autonomously over the first object, thereby allowing the on-road
vehicle to grab and lift autonomously the first object above
ground, thereby facilitating said integration of the first object
with the on-road vehicle.
11. The system of claim 10, wherein as a part of said releasing
autonomously of the first object, the on-road vehicle is configured
to: (i) lower the first object, (ii) un-grab the first object and
(iii) straddle off the first object.
12. The system of claim 1, wherein: said autonomously altering of
functionality is facilitated by a combination of different
autonomous functions working in synchronization, in which said
combination of different autonomous functions comprises: (i) said
self-driving, thereby allowing the on-road vehicle to autonomously
access the second object, (ii) said straddling autonomously,
thereby allowing the on-rod vehicle to self-align with the second
object, and (iii) said grabbing and lifting autonomously of the
second object, thereby allowing the on-rod vehicle to
self-integrate with the second object, in which said autonomously
altering of functionality is further facilitated by an ability of
the on-road vehicle to straddle over the respective objects, and in
which said autonomously altering of functionality comprises at
least said alteration of functionality taking place without relying
on external support such as support from people for driving,
support from people for lifting and displacing/aligning loads, and
support from external mechanical devices for lifting and
displacing/aligning loads; and said autonomously altering of
functionality is further facilitated by the on-road vehicle
eclectically interfacing with the respective objects, in which:
said electrically interfacing is done in conjunction with said
grabbing of the respective object; said electrically interfacing
comprises at least one of: (i) supplying electrical power to the
respective object, (ii) supplying communication services to the
respective object, and (iii) supplying sensory information to the
respective object, thereby allowing the respective object to better
interact with people in conjunction with accomplishing the
respective functionality; and said electrically interfacing is a
part of said integration.
13. The system of claim 12, wherein said autonomously altering of
functionality comprises switching/changing/modifying autonomy mode
by the on-road vehicle, from a first autonomy mode into a second
autonomy mode, in which the first autonomy mode is operative to
support a first automatic on-road behavior that facilitates the
first function, and the second autonomy mode is operative to
support a second and different automatic on-road behavior that
facilitates the second function, in which said switching/changing
of the autonomy mode is a part of said integration.
14. A method for autonomously altering functionality of an on-road
vehicle, comprising: performing a first function by an on-road
vehicle, in which the first function is performed by the on-road
vehicle in conjunction with a first object that is currently
integrated with the on-road-vehicle and that is operative to
facilitate said first function; receiving, in conjunction with the
on-road vehicle, a request associated with altering functionality
of the on-road vehicle from a first functionality associated with
the first function into a different functionality associated with a
second function; releasing autonomously the first object by the
on-road vehicle as a response to said request; self driving by the
on-road vehicle, as a further response to said request, from a
current location of the on-road vehicle to a certain location at
which a second object is located, in which the second object is
associated with said different functionality; upon arrival to said
certain location: (i) straddling autonomously, by the on-road
vehicle, over the second object, (ii) grabbing and lifting,
autonomously, the second object above ground by the on-road
vehicle, and thereby autonomously integrating the second object
with the on-road vehicle; and performing said second function by
the on-road vehicle in conjunction with the second object now
integrated with the on-road vehicle.
15. The method of claim 14, further comprising: receiving, in
conjunction with the on-road vehicle, and prior to said performing
of the first function, a prior request associated with altering
functionality of the on-road vehicle into the first functionality
associated with the first object; self driving by the on-road
vehicle, as a response to said prior request, from a previous
location of the on-road vehicle to a particular location at which
the first object is located; and upon arrival to said particular
location: (i) straddling autonomously, by the on-road vehicle, over
the first object, (ii) grabbing and lifting, autonomously, the
first object above ground by the on-road vehicle, thereby
facilitating said integration of the first object with the on-road
vehicle and said performing of the first function by the on-road
vehicle.
16. The method of claim 15, wherein said releasing autonomously of
the first object by the on-road vehicle comprises: lowering the
first object by the on-road vehicle; un-grabbing the first object
by the on-road vehicle; and straddling off the first object by the
on-road vehicle.
17. A system operative to respond to a dynamic demand for various
functions by autonomously altering shape and functionality of
on-road vehicles, comprising: a fleet of on-road vehicles
comprising a plurality of on-road vehicles, in which each of the
on-road vehicles is configured to autonomously-upon-demand pick-up
and integrate-with various objects; and a pool of objects
comprising said various objects, in which each of the objects is
associated with a respective functionality, thereby collectively
supporting a variety of functionalities, and in which there are
more objects in the pool than on-road vehicles in the system;
wherein the system is configured to: determine current demands for
various functionalities; determine, based on said current demands,
a new assignment of functionalities for at least some of the
on-road vehicles, in which said new assignment is expected to allow
the fleet of on-road vehicles to better respond to the demands; and
per each of the on-road vehicles for which a new assignment of
functionality was determined, the on road vehicle is configured to:
(i) release one of the objects that is currently integrated
therewith, (ii) self drive from a current location of the on-road
vehicle to a location of parking of another one of the objects that
is associated with the respective functionality newly assigned, and
(iii) upon arrival to the location of parking: straddle
autonomously over the another object, thereby allowing the on-road
vehicle to grab and lift autonomously said another object above
ground, and thereby integrating autonomously the another object
with the on-road vehicle, thus embedding in the on-road vehicle the
respective functionality newly assigned.
18. The system of claim 17, wherein, per each of the on-road
vehicles for which a new assignment of functionality was
determined: said integrating autonomously of the respective another
object with the on-road vehicle results in an alteration of an
outer shape of the on-road vehicle from a previous outer shape
associated with the respective previously integrated object into a
new outer shape associated with the respective newly integrated
object.
19. The system of claim 18, wherein said alteration of the outer
shape facilitates said new functionality assigned.
20. The system of claim 19, wherein: said previous outer shape is
associated with a first outer interface in the previously
integrated object, in which said first outer interface is
associated with a first way of interacting with people; and said
new outer shape is associated with a second outer interface in the
newly integrated object, in which said second outer interface is
associated with a second way of interacting with people.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This Application is a continuation-in-part of patent
application Ser. No. 15/898,473, filed on Feb. 17, 2018, which
claims priority to U.S. Provisional Patent Application No.
62/473,436, filed on Mar. 19, 2017.
BACKGROUND
[0002] Current designs of on-road vehicles are ineffective in
performing autonomously several different types of tasks. For
example, an on-road vehicle designed to carry passengers
autonomously is less suited for delivering packages autonomously
and vice versa. Methods and system for increasing versatility of
on-road autonomous vehicles are required.
SUMMARY
[0003] One embodiment is a system (FIG. 13A, FIG. 13B, FIG. 14A,
FIG. 14B) operative to autonomously alter functionality of an
on-road vehicle. The system includes: an on-road vehicle operative
to straddle over objects; a first object operative to facilitate a
first function when integrated with the on-road vehicle, in which
the first object is currently integrated with the on-road vehicle,
thereby currently enabling the on-road vehicle together with the
first object to perform said first function; and a second object
operative to facilitate a second function when integrated with the
on-road vehicle, in which the second object is currently located at
a certain location. In one embodiment, as a response to a specific
request received in the system, the system is configured to
autonomously alter functionality of the on-road vehicle from a
first functionality associated with the first function into a
different functionality associated with the second function, in
which as a part of said autonomous alteration and said response,
the on-road vehicle is configured to: release autonomously the
first object; self drive from a current location of the on-road
vehicle to said certain location of the second object; upon arrival
to said certain location: straddle autonomously over the second
object, thereby allowing the on-road vehicle to grab and lift
autonomously the second object above ground, thereby integrating
autonomously the second object with the on-road vehicle; and
perform said second function in conjunction with the second object
now integrated with the on-road vehicle.
[0004] One embodiment is a method (FIG. 15) for autonomously
altering functionality of an on-road vehicle. The method includes:
performing a first function by an on-road vehicle, in which the
first function is performed by the on-road vehicle in conjunction
with a first object that is currently integrated with the
on-road-vehicle and that is operative to facilitate said first
function; receiving, in conjunction with the on-road vehicle, a
request associated with altering functionality of the on-road
vehicle from a first functionality associated with the first
function into a different functionality associated with a second
function; releasing autonomously the first object by the on-road
vehicle as a response to said request; self driving by the on-road
vehicle, as a further response to said request, from a current
location of the on-road vehicle to a certain location at which a
second object is located, in which the second object is associated
with said different functionality; upon arrival to said certain
location: (i) straddling autonomously, by the on-road vehicle, over
the second object, (ii) grabbing and lifting, autonomously, the
second object above ground by the on-road vehicle, and thereby
autonomously integrating the second object with the on-road
vehicle; and performing said second function by the on-road vehicle
in conjunction with the second object now integrated with the
on-road vehicle.
[0005] One embodiment is a system (FIG. 13A, FIG. 13B, FIG. 14A,
FIG. 14B) operative to respond to a dynamic demand for various
functions by autonomously altering shape and functionality of
on-road vehicles. The system includes: a fleet of on-road vehicles
comprising a plurality of on-road vehicles, in which each of the
on-road vehicles is configured to autonomously-upon-demand pick-up
and integrate-with various objects; and a pool of objects
comprising said various objects, in which each of the objects is
associated with a respective functionality, thereby collectively
supporting a variety of functionalities, and in which there are
more objects in the pool than on-road vehicles in the system. In
one embodiment, the system is configured to: determine current
demands for various functionalities; determine, based on said
current demands, a new assignment of functionalities for at least
some of the on-road vehicles, in which said new assignment is
expected to allow the fleet of on-road vehicles to better respond
to the demands; and per each of the on-road vehicles for which a
new assignment of functionality was determined, the on road vehicle
is configured to: (i) release one of the objects that is currently
integrated therewith, (ii) self drive from a current location of
the on-road vehicle to a location of parking of another one of the
objects that is associated with the respective functionality newly
assigned, and (iii) upon arrival to the location of parking:
straddle autonomously over the another object, thereby allowing the
on-road vehicle to grab and lift autonomously said another object
above ground, and thereby integrating autonomously the another
object with the on-road vehicle, thus embedding in the on-road
vehicle the respective functionality newly assigned.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The embodiments are herein described by way of example only,
with reference to the accompanying drawings. No attempt is made to
show structural details of the embodiments in more detail than is
necessary for a fundamental understanding of the embodiments. In
the drawings:
[0007] FIG. 1A illustrates one embodiment of an on-road autonomous
vehicle operative to autonomously collect and transport a load over
public roads;
[0008] FIG. 1B illustrates one embodiment of the on-road autonomous
vehicle as seen from a front view;
[0009] FIG. 1C illustrates one embodiment of the on-road autonomous
vehicle as seen from a side view;
[0010] FIG. 1D illustrates one embodiment of the on-road autonomous
vehicle as seen from below;
[0011] FIG. 2A illustrates one embodiment of an on-road autonomous
vehicle self-driving without a load over a public road and
alongside regular traffic;
[0012] FIG. 2B illustrates one embodiment of the on-road autonomous
vehicle arriving at a parking lot in which a load is parked;
[0013] FIG. 2C illustrates one embodiment of the on-road autonomous
vehicle getting ready to pick up the load;
[0014] FIG. 3A illustrates one embodiment of an on-road autonomous
vehicle getting ready to pick up a load;
[0015] FIG. 3B illustrates one embodiment of the on-road autonomous
vehicle moving/straddling over the load;
[0016] FIG. 3C illustrates one embodiment of the on-road autonomous
vehicle getting into a lower position and grabbing the load;
[0017] FIG. 3D illustrates one embodiment of the on-road autonomous
vehicle picking up the load;
[0018] FIG. 4A illustrates one embodiment of an on-road autonomous
vehicle driving away with a load that was previously parked in a
parking lot;
[0019] FIG. 4B illustrates one embodiment of the on-road autonomous
vehicle self-driving with the load over a public road and alongside
regular traffic;
[0020] FIG. 4C illustrates one embodiment of a method for
autonomously collecting and transporting a load over public
roads;
[0021] FIG. 4D illustrates one embodiment of another method for
autonomously collecting and transporting a load over public
roads;
[0022] FIG. 5A illustrates one embodiment of an on-road autonomous
vehicle self-driving to a location in which a passenger in a cabin
is located;
[0023] FIG. 5B illustrates one embodiment of the passenger in the
cabin awaiting arrival of the on-road autonomous vehicle;
[0024] FIG. 5C illustrates one embodiment of the on-road autonomous
vehicle picking up the cabin with the passenger;
[0025] FIG. 5D illustrates one embodiment of a method for
autonomously collecting and transporting a passenger in a
cabin;
[0026] FIG. 5E illustrates one embodiment of a method for
requesting autonomous collection and transporting of a passenger in
a cabin;
[0027] FIG. 6A illustrates one embodiment of an on-road autonomous
vehicle self-driving to a location in which a functional load is
located;
[0028] FIG. 6B illustrates one embodiment of the functional load
awaiting arrival of the on-road autonomous vehicle;
[0029] FIG. 6C illustrates one embodiment of the on-road autonomous
vehicle picking up and transporting the functional load;
[0030] FIG. 6D illustrates one embodiment of the functional load
after being placed by the on-road autonomous vehicle at a
particular location operative to work in conjunction with or
support the functional load;
[0031] FIG. 6E illustrates one embodiment of the on-road autonomous
vehicle driving away after placing the functional load at the
particular location;
[0032] FIG. 6F illustrates one embodiment of a method for
autonomously collecting transporting and placing a functional load
according to a request;
[0033] FIG. 7A illustrates one embodiment of an on-road autonomous
vehicle self-driving to a location in which a functional load is
located;
[0034] FIG. 7B illustrates one embodiment of the on-road autonomous
vehicle picking up the functional load and using a function
associated with the functional load;
[0035] FIG. 7C illustrates one embodiment of a convoy of several
on-road autonomous vehicles in which one of the on-road autonomous
vehicles is carrying a functional load;
[0036] FIG. 7D illustrates one embodiment of the convoy of several
on-road autonomous vehicles in which the on-road autonomous
vehicles switch at least some of the loads between themselves so as
to pass the functional load from one of the on-road autonomous
vehicles to another of the on-road autonomous vehicles;
[0037] FIG. 7E illustrates one embodiment of the convoy of several
on-road autonomous vehicles in which another of the on-road
autonomous vehicles is now carrying the functional load;
[0038] FIG. 7F illustrates one embodiment of a method for
autonomously collecting and using a functional load;
[0039] FIG. 7G illustrates one embodiment of a method for
exchanging a functional load between at least two on-road
autonomous vehicles in a convoy;
[0040] FIG. 8A illustrates one embodiment of two on-road autonomous
vehicles getting into positions in conjunction with a load that is
too big to be carried by only one on-road autonomous vehicle;
[0041] FIG. 8B illustrates one embodiment of the two on-road
autonomous vehicles cooperatively lifting the load;
[0042] FIG. 8C illustrates one embodiment of the two on-road
autonomous vehicles cooperatively lifting another load;
[0043] FIG. 8D illustrates one embodiment of a method for
cooperatively lifting and transporting a load by at least two
on-road autonomous vehicles;
[0044] FIG. 9A illustrates one embodiment of an on-road autonomous
vehicle getting into position behind a target vehicle;
[0045] FIG. 9B illustrates one embodiment of the on-road autonomous
vehicle now mechanically connected to the target vehicle that pulls
the on-road autonomous vehicle thereby allowing for self generation
of electrical energy in the on-road autonomous vehicle;
[0046] FIG. 9C illustrates one embodiment of an on-road autonomous
vehicle getting into position behind another on-road autonomous
vehicle in order to be pulled thereby;
[0047] FIG. 9D illustrates one embodiment of a method for charging
batteries of an on-road autonomous vehicle on the move;
[0048] FIG. 10A illustrates one embodiment of an on-road autonomous
vehicle carrying a passenger cabin;
[0049] FIG. 10B illustrates one embodiment of the on-road
autonomous vehicle providing air gap protection to the passenger
cabin;
[0050] FIG. 10C illustrates one embodiment of the on-road
autonomous vehicle providing further air gap protection to the
passenger cabin;
[0051] FIG. 11A illustrates one embodiment of an on-road autonomous
vehicle about to be hit by a foreign object;
[0052] FIG. 11B illustrates one embodiment of the on-road
autonomous vehicle being hit by the foreign object;
[0053] FIG. 12A illustrates one embodiment of an on-road autonomous
vehicle carrying a load having a certain aerodynamic design and
extending beyond a length of the on-road autonomous vehicle;
[0054] FIG. 12B illustrates one embodiment of a method for
adjusting an on-road autonomous vehicle to carry a long load;
[0055] FIG. 13A illustrates one embodiment of an on-road autonomous
vehicle currently integrated with a first object having drawers
that are presently closed;
[0056] FIG. 13B illustrates one embodiment of the on-road
autonomous vehicle still integrated with the first object and
getting one of the drawers opened;
[0057] FIG. 14A illustrates one embodiment of an on-road autonomous
vehicle currently integrated with a second object having a door
that is presently closed;
[0058] FIG. 14B illustrates one embodiment of the on-road
autonomous vehicle still integrated with the second object and
getting the door opened;
[0059] FIG. 15 illustrates one embodiment of a method for
autonomously altering functionality of an on-road vehicle; and
[0060] FIG. 16 illustrates several embodiments of on-road
autonomous vehicles having several different sizes
respectively.
DETAILED DESCRIPTION
[0061] FIG. 1A illustrates one embodiment of an on-road autonomous
vehicle 10 operative to autonomously collect and transport a load
over public roads. The on-road autonomous vehicle 10 comprises
wheels 1 (1a, 1b, 1c, 1d) touching ground 9-ground, vertical
structures 2 (2a, 2b, 2c), 2' (2a', 2b', 2c') mounted on the
wheels, an upper horizontal structure 3 (3a, 3b, 3c), a plurality
of sensors 4 (4a, 4b, 4c), and a first connector 5-cnct having a
certain clearance 9-clr above ground 9-ground.
[0062] FIG. 1B illustrates one embodiment of the on-road autonomous
vehicle 10 as seen from a front view.
[0063] FIG. 1C illustrates one embodiment of the on-road autonomous
vehicle 10 as seen from a side view.
[0064] FIG. 1D illustrates one embodiment of the on-road autonomous
vehicle 10 as seen from below. The on-road autonomous vehicle 10
further comprises a control sub-system 4 (FIG. 1A), 6, 7, 8
comprising a processing unit 8 and a plurality of sensors 4 (4a,
4b, 4c, FIG. 1A) and actuators 6, 7.
[0065] FIG. 2A illustrates one embodiment of the on-road autonomous
vehicle 10 self-driving without the load over a public road 20a and
alongside regular traffic 21a, 21b.
[0066] FIG. 2B illustrates one embodiment of the on-road autonomous
vehicle 10 arriving at a parking lot 20-p in which the load 11 is
parked. The parking lot 20-p has a certain width 20-p-w. 21c, 21d,
21e are other vehicles, and 20b is a public road.
[0067] FIG. 2C illustrates one embodiment of the on-road autonomous
vehicle 10 getting ready to pick up the load 11. The load has a
certain width 11-w, and the on-road autonomous vehicle 10 has a
certain width 10-w. 23a is a pedestrian, and 21f is a vehicle
parking alongside the load 11.
[0068] FIG. 3A illustrates one embodiment of the on-road autonomous
vehicle 10 getting ready to pick up the load 11.
[0069] FIG. 3B illustrates one embodiment of the on-road autonomous
vehicle 10 moving/straddling over the load 11 and getting the
connector 5-cnct over a certain position 5-pos associated with the
load 11.
[0070] FIG. 3C illustrates one embodiment of the on-road autonomous
vehicle 10 getting into a lower position and grabbing the load
11.
[0071] FIG. 3D illustrates one embodiment of the on-road autonomous
vehicle 10 picking up the load 11.
[0072] FIG. 4A illustrates one embodiment of the on-road autonomous
vehicle 10 driving away with the load 11 that was previously parked
in the parking lot.
[0073] FIG. 4B illustrates one embodiment of the on-road autonomous
vehicle 10 self-driving with the load 11 over a public road 20c and
alongside regular traffic 21g. 22a, 22b are traffic lights or other
traffic signs. The public road 20c has a certain lane width 20-w.
The on-road autonomous vehicle 10 has a certain width 10-w and a
certain height 10-h.
[0074] In one embodiment, the on-road autonomous vehicle 10 is
operative to autonomously collect and transport loads over public
roads.
[0075] In one embodiment, the on-road autonomous vehicle comprises
an upper horizontal structure 3 (3a, 3b, 3c) elevated above ground
9-ground (FIG. 1A) by vertical structures 2 (2a, 2b, 2c), 2' (2a',
2b', 2c') mounted on at least four wheels 1 (1a, 1b, 1c, 1d)
touching ground 9-ground, so as to create a certain clearance 9-clr
above ground for at least a first connector 5-cnct associated with
the upper horizontal structure 3 and attached thereunder.
[0076] In one embodiment, the on-road autonomous vehicle comprises
a control sub-system 4, 6, 7, 8 comprising a processing unit 8
(FIG. 1D) and a plurality of sensors 4 (4a, 4b, 4c) and actuators
6, 7 (FIG. 1D), in which the control sub-system is configured to
generate, in real-time, a three-dimensional representation of
surrounding environment using data collected by the plurality of
sensors 4.
[0077] In one embodiment, the on-road autonomous vehicle comprises
at least a first linear actuator 2'+2 (2' moving up and down
relative to 2, i.e. 2a' moving relative to 2a, 2b' moving relative
to 2b, 2c' moving relative to 2c, and 2d' moving relative to 2d)
configured to control and set said certain clearance 9-clr of the
first connector 5-cnct, by causing the first connector 5-cnct, or
the entire upper horizontal structure 3, to move up or down
relative to ground 9-ground.
[0078] In one embodiment, the control sub-system 4, 6, 7, 8 is
further configured to use said three-dimensional representation,
said actuators 6, 7, and said processing unit 8 in conjunction with
a set of public-road self-driving directives, to: (i) self-drive
(FIG. 2A, FIG. 2B) the on-road autonomous vehicle 10, over public
roads 20a (FIG. 2A), 20b (FIG. 2B) and alongside regular car
traffic 21a, 21b, 21c, 21d, 21e, 21f (FIG. 2A, FIG. 2B, FIG. 2C),
to a location in which a first load 11 (FIG. 2B) is parked, (ii)
position the on-road autonomous vehicle 10 in front of the load 11
(FIG. 2C, FIG. 3A), and (iii) straddle the on-road autonomous
vehicle 10 over the first load 11 (FIG. 3B), such that said first
connector 5-cnct is brought to a predetermined position 5-pos over
the first load 11 (FIG. 3B).
[0079] In one embodiment, the control sub-system 4, 6, 7, 8 is
further configured to use the first linear actuator 2'+2 to: (i)
lower (FIG. 3C) the first connector 5-cnct into mechanical contact
with the first load 11 thereby allowing the connector to connect to
or grab the first load, and (ii) lift (FIG. 3D) the first load 11
above ground into a position operative to self-transport (FIG. 4A,
FIG. 4B) the first load 11 over public roads 20c (FIG. 4B) and
alongside regular car traffic 21e (FIG. 4A), 21g (FIG. 4B).
[0080] In one embodiment, the plurality if sensors 4 comprises a
plurality of digital cameras together covering front, sides, and
back of the on-road autonomous vehicle 10, thereby facilitating
said generation of three-dimensional representation of surrounding
environment.
[0081] In one embodiment, the plurality of sensors 4 comprises at
least one radar device, thereby farther facilitating said
generation of three-dimensional representation of surrounding
environment.
[0082] In one embodiment, the plurality if sensors 4 comprises at
least one light-detection-and-ranging (LIDAR) laser device, thereby
farther facilitating said generation of three-dimensional
representation of surrounding environment.
[0083] In one embodiment, the plurality of sensors 4 comprises at
least two of: (i) a plurality of digital cameras, (ii) a LIDAR
laser device, and (iii) a radar device, in which said generation of
three-dimensional representation of surrounding environment is
achieved using data fusion techniques acting on a combination of
signals generated in real time by the plurality of sensors.
[0084] In one embodiment, said surrounding environment comprises at
least the public roads 20a (FIG. 2A), 20b (FIG. 2B), 20c (FIG. 4B)
surrounding the on-road autonomous vehicle 10, regular car traffic
21a, 21b, 21c, 21d, 21e, 21f, 21g surrounding the on-road
autonomous vehicle 10, traffic lights 22a, 22b (FIG. 4B) and other
traffic signs surrounding the on-road autonomous vehicle 10, and
pedestrians 23a (FIG. 2C) surrounding the on-road autonomous
vehicle 10, in which said three-dimensional representation in
conjunction with said set of public-road self-driving directives
are operative to facilitate said self-driving.
[0085] In one embodiment, said plurality of sensors 4 in
conjunction with said data fusion and three-dimensional
representation of surrounding environment are operative to detect
said load 11 and to facilitate said positioning (FIG. 2C, FIG. 3A)
of the on-road autonomous vehicle 10 in front of the load and said
straddling (FIG. 3B) of the on-road autonomous vehicle 10 over the
load 11.
[0086] In one embodiment, said on-road autonomous vehicle 10 is
narrow enough to facilitate said self driving over public roads 20
and in conjunction with a width 20-w (FIG. 4B) associated with a
standard lane in public roads 20c, in which said standard lane has
the width 20-w of between 2.5 (two point five) meters and 3.7
(three point seven) meters. In one embodiment, the on-road
autonomous vehicle 10 has a width 10-w (FIG. 4B) of below 2.5 (two
point five) meters. In one embodiment, said load 11 has a width
11-w (FIG. 2C) of below 2 meters, and said load 11 is narrower than
said on-road autonomous vehicle 10 (i.e., 11-w is narrower than
10-w in FIG. 2C), in order to facilitate said straddling (FIG. 3B)
of the on-road autonomous vehicle 10 over the load 11.
[0087] In one embodiment, said location in which the load 11 is
parked is a standard parking lot 20-p (FIG. 2B) in a parking area,
in which said standard parking lot has a width 20-p-w of between
2.3 (two point three) meters and 2.7 (two point seven) meters, and
said on-road autonomous vehicle 10 is narrow enough to facilitate
said straddling of the on-road autonomous vehicle over the load 11
while the load is parked in said standard parking lot 20-p and
without the on-road autonomous vehicle exceeding the width 20-p-w
of the standard parking lot (i.e., 11-w is narrower than 10-w, and
10-w is narrower than 20-p-w). In one embodiment, the on-road
autonomous vehicle 10 has a width 10-w of below 2.3 (two point
three) meters. In one embodiment, said load 11 has a width 11-w of
below 1.8 (one point eight) meters, and said load 11 is narrower
than said on-road autonomous vehicle 10, in order to facilitate
said straddling of the on-road autonomous vehicle 10 over the load
11 while the load is parked in said standard parking lot 20-p.
[0088] In one embodiment, a height 10-h (FIG. 4B) of said on-road
autonomous vehicle 10 does not exceed a width 10-w of the on-road
autonomous vehicle 10, thereby facilitating a center of gravity
which is low enough to facilitate regular car traffic maneuvers in
conjunction with said public roads 20a (FIG. 2A), 20b (FIG. 2B),
20c (FIG. 4B) and alongside regular car traffic 21a, 21b, 21c, 21d,
21e, 21f , 21g. In one embodiment, said maneuvers comprise
traveling at a velocity exceeding 80 (eighty) kilometers-per-hour.
In one embodiment, said maneuvers comprise a centripetal
acceleration of above 3 (three) meters-per-second-square (m/s*s).
In one embodiment, said width 10-w is between 2 (two) meters and
2.5 (two point five) meters, and said height 10-h is below 2 (two)
meters.
[0089] In one embodiment, said actuators 6, 7 comprise electrical
motors 6b, 6d capable of linearly accelerating and de-accelerating
the on-road autonomous vehicle 10 at a rate of at least 3 (three)
meters-per-second-square (m/s*s), thereby avoiding car-accidents in
conjunction with said public roads 20a (FIG. 2A), 20b (FIG. 2B),
20c (FIG. 4B) and regular car traffic 21a, 21b, 21c, 21d, 21e, 21f
, 21g.
[0090] In one embodiment, said lifting (FIG. 3D) is done so as to
lift the load 11 to a position which is not more than 50 cm (fifty
centimeters) above ground, thereby facilitating a center of gravity
which is low enough to facilitate regular car traffic maneuvers in
conjunction with said public roads 20a (FIG. 2A), 20b (FIG. 2B),
20c (FIG. 4B) and alongside regular car traffic 21a, 21b, 21c, 21d,
21e, 21f , 21g.
[0091] In one embodiment, said positioning and straddling
comprises: using said three-dimensional representation of
surrounding environment to accurately represent the load 11 and
position the on-road autonomous vehicle 10 in front to the load,
and using slow and controlled acceleration to slowly move forward
while maintaining constant and regular spacing between the load 11
and the inner surfaces of the on-road autonomous vehicle 10, until
predicting accurate positioning of the on-road autonomous vehicle
10 above the load 11.
[0092] In one embodiment, said first liner actuator 2'+2 is a
distributed linear actuator comprising several sub-actuators (e.g.,
four sub-actuators: 2a' moving relative to 2a, 2b' moving relative
to 2b, 2c' moving relative to 2c, and 2d' moving relative to 2d),
in which each sub-actuator is associated with one of the wheels,
such that the entire upper horizontal structure 3 is operative to
move up and down relative to the wheels and ground.
[0093] In one embodiment, the sub-actuators are also operative to
act as springs or mechanical dumpers for the wheels relative to the
upper horizontal structure.
[0094] In one embodiment, said first liner actuator is embedded in
the first connector 5-cnct, thereby causing only the connector to
move up and down relative to ground, and such that the upper
horizontal structure 3 remains in place.
[0095] FIG. 4C illustrates one embodiment of a method for
autonomously collecting and transporting a load over public roads.
In step 1001, receiving, in conjunction with an on-road autonomous
vehicle 10, a request to collect-and-transport a load 11 which is
currently parked in a certain location 20-p. In step 1002,
self-driving (FIG. 2A, FIG. 2B, FIG. 2C), by the on-road autonomous
vehicle, over public roads 20a (FIG. 2A), 20b (FIG. 2B) and
alongside regular car traffic 21a, 21b, 21c, 21d, 21e, 21f, from a
current location of the on-road autonomous vehicle to said certain
location 20-p of the load 11. In step 1003, upon arrival to said
certain location 20-p, straddling autonomously (FIG. 3B, and the
transition from FIG. 3A to FIG. 3B), by the on-road autonomous
vehicle 10, over the load 11, thereby allowing the on-road
autonomous vehicle to grab (FIG. 3C) and lift autonomously (FIG.
3D, or the transition from FIG. 3C to FIG. 3D) the load 11 above
ground in a linear upward movement that creates a full clearance of
the load 11 above ground. In step 1004, transporting autonomously
(FIG. 4A, FIG. 4B) the load 11, by the on-road autonomous vehicle
10, over public roads 20c (FIG. 4B) and alongside regular traffic
21e (FIG. 4A), 21g (FIG. 4B), while the load 11 is hanging
underneath the on-road autonomous vehicle 10 and such that the
entire load 11 maintains said full clearance above ground during
transport. In one embodiment, autonomously navigating, by the
on-road autonomous vehicle, to a destination location, and lowering
the load 11 at the destination location in a linear downward
movement that places the load on the ground (a reverse transition
from FIG. 3D to FIG. 3C).
[0096] FIG. 4D illustrates one embodiment of a method for
autonomously collecting and transporting a load over public roads.
In step 1011, self-driving using a set of public-road self-driving
directives, by an on-road autonomous vehicle 10, over public roads
20a (FIG. 2A), 20b (FIG. 2B) and alongside regular car traffic 21a,
21b, 21c, 21d, 21e, 21f, from a current location of the on-road
autonomous vehicle to a certain location 20-p of the load 11. In
step 1012, upon arrival to said certain location 20-p, straddling
autonomously (FIG. 3B, and the transition from FIG. 3A to FIG. 3B),
using a set of autonomous straddling directives, by the on-road
autonomous vehicle 10, over the load 11, thereby allowing the
on-road autonomous vehicle to grab (FIG. 3C) and lift autonomously
(FIG. 3D, or the transition from FIG. 3C to FIG. 3D) the load 11
above ground in a linear upward movement that creates a full
clearance of the load 11 above ground. In step 1013, transporting
autonomously (FIG. 4A, FIG. 4B) the load 11 using a set of
public-road autonomous transport directives, by the on-road
autonomous vehicle 10, over public roads 20c (FIG. 4B) and
alongside regular traffic 21e (FIG. 4A), 21g (FIG. 4B), while the
load 11 is hanging underneath the on-road autonomous vehicle 10 and
such that the entire load 11 maintains said full clearance above
ground during transport. In one embodiment, said public-road
self-driving directives are fine-tuned to facilitate said
self-driving during a period that the on-road autonomous vehicle 10
does not transport the load 11, and is therefore (i) lighter and
(ii) has a higher center of gravity; said public-road autonomous
transport directives are fine-tuned to facilitate said transporting
during a period that the on-road autonomous vehicle 10 transports
the load 11, and is therefore (i) heavier and (ii) has a lower
center of gravity; and said autonomous straddling directives are
fine-tuned to facilitate said straddling by directing a slow
approach and slow straddling of the on-road autonomous vehicle 10
over the load 11 and into an accurate final position above the
load.
[0097] FIG. 5A illustrates one embodiment of an on-road autonomous
vehicle 10 self-driving to a location in which a passenger in a
cabin is located.
[0098] FIG. 5B illustrates one embodiment of the passenger 30 in
the cabin 11 awaiting arrival of the on-road autonomous vehicle 10.
5-pos is a position in the cabin 11 that facilitates grabbing or
connecting to the cabin 11.
[0099] FIG. 5C illustrates one embodiment of the on-road autonomous
vehicle 10 picking up the cabin 11 with the passenger 30. The cabin
11 is now connected to the on-road autonomous vehicle 10 via
connector 5-cnct and in conjunction with position 5-pos.
[0100] FIG. 5D illustrates one embodiment of a method for
autonomously collecting and transporting a passenger in a cabin. In
step 1021, receiving, in conjunction with an on-road autonomous
vehicle 10 (FIG. 5A), from a passenger 30 (FIG. 5B) associated with
a cabin 11 (FIG. 5B) located in a certain location, a request to
collect-and-transport the passenger together with the cabin. In
step 1022, self-driving (FIG. 2A), by the on-road autonomous
vehicle 10, from a current location of the on-road autonomous
vehicle to said certain location of the cabin 11 (FIG. 5B). In step
1023, upon arrival to said certain location: (i) confirming that
the passenger 30 is indeed in the cabin 11 (FIG. 5B), and (ii)
straddling autonomously, by the on-road autonomous vehicle 10, over
the cabin 11 (FIG. 3B), thereby allowing the on-road autonomous
vehicle 10 to grab and lift autonomously (FIG. 3C, FIG. 3D) the
cabin 11, together with the passenger 30, above ground (FIG. 5C).
In step 1024, transporting autonomously the cabin 11 together with
the passenger 30, by the on-road autonomous vehicle 10, while the
cabin 11 is hanging underneath the on-road autonomous vehicle (FIG.
4B). In one embodiment, the method further includes: receiving, in
conjunction with the on-road autonomous vehicle 10, a second
request to collect-and-transport a cargo 11 which is currently
located in a second location 20-p (FIG. 2B); self-driving (FIG. 2A,
FIG. 2B, FIG. 2C), by the on-road autonomous vehicle 10, over
public roads 20a (FIG. 2A), 20b (FIG. 2B) and alongside regular car
traffic 21a, 21b, 21c, 21d, 21e, 21f, from a current location of
the on-road autonomous vehicle to said second location 20-p; upon
arrival to said second location 20-p, straddling autonomously (FIG.
3B, and the transition from FIG. 3A to FIG. 3B), by the on-road
autonomous vehicle 10, over the cargo 11, thereby allowing the
on-road autonomous vehicle 10 to grab (FIG. 3C) and lift
autonomously (FIG. 3D, or the transition from FIG. 3C to FIG. 3D)
the cargo 11 above ground in a linear upward movement that creates
a full clearance of the cargo 11 above ground; and transporting
autonomously (FIG. 4A, FIG. 4B) the cargo 11, by the on-road
autonomous vehicle 10, over public roads 20c (FIG. 4B) and
alongside regular traffic 21e (FIG. 4A), 21g (FIG. 4B), while the
cargo 11 is hanging underneath the on-road autonomous vehicle 10
and such that the entire cargo 11 maintains said full clearance
above ground during transport, thereby facilitating dual use of the
on-road autonomous vehicle 10 for both said transporting of the
passenger 30 during a certain period of time and said transporting
of the cargo 11 during another period of time. In one embodiment,
said transporting of the passenger 30 or other passengers is done
during the mornings or the evenings and in conjunction with work
rush hours, while said transporting of the cargo 11 or other cargo
is done during mid-day hours, while most people are working.
[0101] FIG. 5E illustrates one embodiment of a method for
requesting autonomous collection and transporting of a passenger in
a cabin. In step 1031, associating a cabin 11 with a passenger 30
(FIG. 5B). In step 1032, sending, in conjunction with the cabin 11,
a request to collect-and-transport the cabin together with the
passenger 30. In step 1033, receiving, in conjunction with the
cabin 11, a ready-to-collect message from an on-road autonomous
vehicle 10 (FIG. 5A). In step 1034, sending, in conjunction with
the cabin 11, a ready-to-be-collected message to the on-road
autonomous vehicle 10, thereby facilitating collection and
transporting of the passenger 30 in the cabin 11 (FIG. 5C).
[0102] FIG. 6A illustrates one embodiment of an on-road autonomous
vehicle 10 self-driving to a location 28 (FIG. 6B) in which a
functional load 11 is located.
[0103] FIG. 6B illustrates one embodiment of the functional load 11
awaiting arrival of the on-road autonomous vehicle 10.
[0104] FIG. 6C illustrates one embodiment of the on-road autonomous
vehicle 10 picking up and transporting the functional load 11.
[0105] FIG. 6D illustrates one embodiment of the functional load 11
after being placed by the on-road autonomous vehicle 10 at a
particular location 29 operative to work in conjunction with or
support the functional load 11 using an interface 29-rec.
[0106] FIG. 6E illustrates one embodiment of the on-road autonomous
vehicle 10 driving away after placing the functional load 11 at the
particular location.
[0107] FIG. 6F illustrates one embodiment of a method for
autonomously collecting transporting and placing a functional load
according to a request. In step 1041, receiving, in conjunction
with an on-road autonomous vehicle 10 (FIG. 6A), a request to place
a specific load 11 (FIG. 6B) at a particular location 29 (FIG. 6D),
in which the specific load 11 is operative to perform a specific
function. In step 1042, self-driving, by the on-road autonomous
vehicle 10, to a specific storage location 28 (FIG. 6B) of the
specific load 11. In step 1043, upon arrival to said specific
storage location 28, straddling autonomously (FIG. 3B, and the
transition from FIG. 3A to FIG. 3B), by the on-road autonomous
vehicle 10, over the specific load 11, thereby allowing the on-road
autonomous vehicle to grab (FIG. 3C) and lift autonomously (FIG.
3D, or the transition from FIG. 3C to FIG. 3D) the specific load 11
above ground in a linear upward movement that creates a full
clearance of the specific load 11 above ground. In step 1044,
transporting autonomously (FIG. 4B) the specific load 11, by the
on-road autonomous vehicle 10, over public roads 20c (FIG. 4B) and
alongside regular traffic 21g (FIG. 4B), to the particular location
29 (FIG. 6D), while the specific load 11 is hanging (FIG. 6C)
underneath the on-road autonomous vehicle 10 and such that the
entire specific load 11 maintains said full clearance above ground
during transport. In step 1045, upon arrival to the particular
location 29, lowering the specific load 11 at the particular
location 29 (FIG. 6D) in a linear downward movement that places the
load down (a reverse transition from FIG. 3D to FIG. 3C), thereby
facilitating performance of the specific action in conjunction with
the particular location 29.
[0108] In one embodiment, said linear downward movement creates a
physical contact between the specific load 11 and a reception
element or interface 29-rec (FIG. 6D) at the particular location
29, thereby enabling said specific function in conjunction with the
physical contact.
[0109] In one embodiment, the specific function is fluid or gas
transfer, and the physical contact with the interface 29-rec, which
comprises ducts, enables said fluid or gas transfer.
[0110] In one embodiment, the specific function is electrical
charge transfer, and the physical contact with the interface
29-rec, which comprises electrical contact, enables said electrical
charge transfer.
[0111] In one embodiment, said specific function comprises at least
one of: (i) fluid transfer such as water or gasoline transfer, (ii)
gas transfer such as methane transfer, (iii) electrical charge
transfer in which the specific load 11 is a rechargeable battery,
(iv) automatic vending in which the specific load 11 is an
automatic vending machine, (v) communication relaying in which the
specific load 11 is a communication relay or a cellular base
station, (vi) waste collection in which the specific load 11 is a
waste container, (vii) monitoring, surveillance, or intelligence
gathering, and (viii) distribution of objects such as drones, other
autonomous vehicles, and munitions.
[0112] One embodiment further comprises straddling away (FIG. 6E)
from the specific load 11, by the on-road autonomous vehicle 10,
thereby leaving the specific load 11 (FIG. 6D) at the particular
location 29 to perform said specific function.
[0113] FIG. 7A illustrates one embodiment of an on-road autonomous
vehicle 10 self-driving to a location 27 in which a functional load
11-func is located.
[0114] FIG. 7B illustrates one embodiment of the on-road autonomous
vehicle 10 picking up the functional load 11-func, interfacing
5-int with the functional load 11-func, and using a function
associated with the functional load 11-func.
[0115] FIG. 7C illustrates one embodiment of a convoy of several
on-road autonomous vehicles 10a, 10b, 10c, 10d in which one of the
on-road autonomous vehicles 10a is carrying a functional load
10-func. 11b, 11c, 11d are general loads.
[0116] FIG. 7D illustrates one embodiment of the convoy of several
on-road autonomous vehicles 10a, 10b, 10c, 10d in which the on-road
autonomous vehicles switch at least some of the loads between
themselves so as to pass the functional load 11-func from one of
the on-road autonomous vehicles 10a to another 10b of the on-road
autonomous vehicles.
[0117] FIG. 7E illustrates one embodiment of the convoy of several
on-road autonomous vehicles 10a, 10b, 10c, 10d in which another of
the on-road autonomous vehicles 10b is now carrying the functional
load 11-func.
[0118] FIG. 7F illustrates one embodiment of a method for
autonomously collecting and using a functional load. In step 1051,
determining, by an on-road autonomous vehicle 10 (FIG. 7A), that a
certain function is needed in conjunction with operating said
on-road autonomous vehicle. In step 1052, self-driving (FIG. 2A),
by the on-road autonomous vehicle 10, from a current location of
the on-road autonomous vehicle to a certain location 27 (FIG. 7A)
where a functional load 11-func is parked, in which said functional
load if operative to render said certain function needed. In step
1053, upon arrival to said certain location (FIG. 7A), straddling
autonomously (FIG. 3B, and the transition from FIG. 3A to FIG. 3B),
by the on-road autonomous vehicle 10, over the functional load
10-func, thereby allowing the on-road autonomous vehicle to grab
(FIG. 3C) and lift autonomously (FIG. 3D, or the transition from
FIG. 3C to FIG. 3D) the functional load 10-func above ground in a
linear upward movement that creates a full clearance of the load
above ground (the result is illustrated in FIG. 7B). In step 1054,
interfacing 5-int (FIG. 7B), in a physical manner, between the
on-road autonomous vehicle 10 and the functional load 11-func,
thereby facilitating said rendering of the certain function needed
from the functional load to the on-road autonomous vehicle.
[0119] In one embodiment, said certain function needed is a need to
charge an electrical battery 12a, 12c (FIG. 7B) belonging to the
on-road autonomous vehicle 10, said functional load 11-func is an
energy source, and said interfacing 5-int is operative to transfer
energy from the functional load 11-func to the on-road autonomous
vehicle 10. In one embodiment, said energy source 11-func is a
portable battery, and said interfacing 5-int is an electrical
interface operative to transport electricity from the portable
battery 11-func to the battery 12a, 12c of the on-road autonomous
vehicle 10. In one embodiment, said energy source 11-func is a
portable fuel cell, and said interfacing 5-int is an electrical
interface operative to transport electricity from the fuel cell
11-func to the battery 12a, 12c of the on-road autonomous vehicle
10. In one embodiment, said energy source 11-func is a portable
generator with on-board fuel, and said interfacing 5-int is an
electrical interface operative to transport electricity from the
portable generator 11-func to the battery 12a, 12c of the on-road
autonomous vehicle 10.
[0120] In one embodiment, said certain function needed is a need
for fuel, said functional load 11-func is a fuel tank, and said
interfacing 5-int is operative to transfer fuel from the fuel tank
11-func to the on-road autonomous vehicle 10. In one embodiment,
said fuel is gasoline or diesel fuel. In one embodiment, said fuel
is a fuel operative to drive a fuel cell, such as hydrogen fuel,
methanol fuel, ethanol fuel, or methane fuel.
[0121] FIG. 7G illustrates one embodiment of a method for
exchanging a functional load between at least two on-road
autonomous vehicles in a convoy. In step 1061, detecting, in a
moving convoy (FIG. 7C) comprising on-road autonomous vehicles 10a,
10b, 10c, 10d, a need of one of the on-road autonomous vehicles 10b
in the convoy to use a certain function, and further detecting
another on-road autonomous vehicle 10a in the moving convoy that
currently makes use of said certain function in conjunction with a
functional load 11-func carried therewith (i.e., 10a carries
11-func for a certain use, and 10b currently needs 11-func for that
use). In step 1062, stopping the convoy (FIG. 7D) as a response to
said detections. In step 1063, autonomously offloading, by said
another on-road autonomous vehicle 10a, the functional load
11-func, thereby placing the functional load 11-func on ground
(e.g., in FIG. 7D, 11-func has now been placed on ground, and 10a
which previously carried 11-func has now moved to the back of the
convoy). In step 1064, autonomously picking-up the functional load
11-func off ground and interfacing to said functional load by said
one of the on-road autonomous vehicles 10b (e.g., FIG. 7E, 10b has
now collected 11-func, and load 11b which was previously carried by
10b is now carried by yet another vehicle 10c), thereby
facilitating said certain function in conjunction with said one of
the on-road autonomous vehicles 10b.
[0122] In one embodiment, said picking-up of the functional load
11-func, by said one of the on-road autonomous vehicles 11b (FIG.
7E), is facilitated by straddling autonomously, by said one of the
on-road autonomous vehicle 11b, over the functional load 11-func
now on ground (FIG. 7D, 10b is driving/straddling over 11-func),
thereby allowing said one of the on-road autonomous vehicle 10b to
grab and lift autonomously the functional load 11-func above ground
in a linear upward movement that creates a full clearance of the
functional load above ground (in FIG. 7E, 10b has lifted 11-func
above ground), thereby facilitating said interfacing.
[0123] In one embodiment, said certain function is an electrical
charging of batteries 12a, 12c belonging to said one of the on-road
autonomous vehicles 10b, in which said functional load 11-func in
an energy source.
[0124] One embodiment further comprising resuming movement by the
convoy.
[0125] FIG. 8A illustrates one embodiment of two on-road autonomous
vehicles 10a, 10b getting into positions in conjunction with a load
11-long that is too big to be carried by only one on-road
autonomous vehicle. 5-cnct-1 is a connector of on-road autonomous
vehicles 10a and is operative to grab a grabbing point 5-grb-1 of
load 11-long at position 5-pos-1. 5-cnct-2 is a connector of
on-road autonomous vehicles 10b and is operative to grab a grabbing
point 5-grb-2 of load 11-long at position 5-pos-2.
[0126] FIG. 8B illustrates one embodiment of the two on-road
autonomous vehicles 10a, 10b cooperatively lifting the load
11-long.
[0127] FIG. 8C illustrates one embodiment of the two on-road
autonomous vehicles 10a, 10b cooperatively lifting another load
11-wide. 11-ext-1 and 11-ext-2 are extensions of load 11-wide.
[0128] FIG. 8D illustrates one embodiment of a method for
cooperatively lifting and transporting a load by at least two
on-road autonomous vehicles. In step 1071, driving autonomously, by
a first on-road autonomous vehicle 10a (FIG. 8A), into a first
predetermined position 5-pos-1 over a load 11-long (FIG. 8A), in
which the first predetermined position 5-pos-1 is associated with a
first grabbing point 5-grb-1 in the load 11-long. In step 1072,
driving autonomously, by a second on-road autonomous vehicle 10b
(FIG. 8A), into a second predetermined position 5-pos-2 over the
load 11-long, in which the second predetermined position 5-pos-2 is
associated with a second grabbing point 5-grb-2 in the load
11-long. In step 1073, lifting the load 11-long together and
synchronously (FIG. 8B), by the first and the second on-road
autonomous vehicles 10a, 10b in conjunction respectively with the
first and second grabbing points 5-grb-1, 5-grb-2, such that: (i)
the load 11-long is lifted above ground, (ii) the load 11-long
achieves full clearance above ground, and (iii) a weight of the
load 11-long is spread between the first 10a and second 10b on-road
autonomous vehicles via the first 5-grb-1 and second 5-grb-2
grabbing points respectively. In step 1074, transporting
autonomously the load 11-long together and synchronously by the
first and second on-road autonomous vehicles 10a, 10b, such that
the load 11-long maintains said full clearance above ground during
transport.
[0129] In one embodiment, the first on-road autonomous vehicle 10a
constantly communicates with the second 10b on-road autonomous
vehicle during said lifting and transport in order to achieve said
synchronicity. In one embodiment, the first on-road autonomous
vehicle 10a controls the second on-road autonomous vehicle 10b
during said lifting and transport, thereby facilitating the lifting
and transport autonomously. In one embodiment, the first on-road
autonomous vehicle 10a receives sensory input from the second
on-road autonomous vehicle 10b during said lifting and transport,
thereby facilitating the lifting and transport autonomously.
[0130] In one embodiment, said driving autonomously comprises
straddling autonomously over the load, by said first and second
on-road autonomous vehicles 10a, 10b.
[0131] In one embodiment, said lifting comprises: lowering a first
connector 5-cnct-1 of the first on-road autonomous vehicle 10a into
mechanical contact with the first grabbing point 5-grb-1, lowering
a second connector 5-cnct-2 of the second on-road autonomous 10b
vehicle into mechanical contact with the second grabbing point
5-grb-2, grabbing the first grabbing point 5-grb-1 by the first
connector 5-cnct-1, grabbing the second grabbing point 5-grb-2 by
the second connector 5-cnct-2, and raising synchronously the first
and second connectors 5-cnct-1, 5-cnct-2 respectively by the first
and second on-road autonomous vehicles 10a, 10b.
[0132] In one embodiment, the load 11-long (FIG. 8A, FIG. 8B) is
narrower than the on-road autonomous vehicles 10a, 10b, thereby
enabling the entire load to be carried under the on-road autonomous
vehicles.
[0133] In one embodiment, the load 11-wide (FIG. 8C) is wider than
the on-road autonomous vehicles 10a, 10b, thereby requiring the
load to be supported under the on-road autonomous vehicles by two
narrow extension shafts 11-ext-1, 11-ext-2 (FIG. 8C).
[0134] FIG. 9A illustrates one embodiment of an on-road autonomous
vehicle 10 getting into position behind a target vehicle 10-target.
10-mech is a mechanical hook or grabbing mechanism.
[0135] FIG. 9B illustrates one embodiment of the on-road autonomous
vehicle 10 now mechanically connected via the mechanical hook or
grabbing mechanism 10-mech to the target vehicle 10-target. The
target vehicle 10-target pulls the on-road autonomous vehicle
thereby allowing the on-road autonomous vehicle to self generate
electrical energy.
[0136] FIG. 9C illustrates one embodiment of an on-road autonomous
vehicle 10a getting into position behind another on-road autonomous
vehicle 10b in order to be pulled thereby.
[0137] FIG. 9D illustrates one embodiment of a method for charging
batteries of an on-road autonomous vehicle on the move. In step
1081, identifying, by an on-road autonomous vehicle 10 (FIG. 9A), a
target vehicle 10-target (FIG. 9A) operative to mechanically pull
another vehicle. In step 1082, self driving (FIG. 2A), by the
on-road autonomous vehicle 10, into a position behind the target
vehicle identified (FIG. 9A). In step 1083, connecting autonomously
(FIG. 9B), by the on-road autonomous vehicle 10, to the target
vehicle 10-target, by performing an autonomous maneuver in
conjunction with a mechanical hook or grabbing mechanism 10-mech,
so as to mechanically connect between the on-road autonomous
vehicle 10 and the target vehicle 10-target (FIG. 9B). In step
1084, being pulled, by the target vehicle 10-target, thereby
causing at least one wheel 1d (FIG. 9B) of the on-road autonomous
vehicle 10 to rotate as the on-road autonomous vehicle 10 is pulled
by the target vehicle 10-target. In step 1085, generating
electrical energy from at least one dynamo 6d (FIG. 9B) connected
to the at least one wheel 1d now rotating, thereby allowing the
dynamo 6d to charge a battery 12c of the on-road autonomous vehicle
10.
[0138] In one embodiment, said connecting autonomously is done
during forward movement of both the on-road autonomous vehicle 10
and the target vehicle 10-target.
[0139] In one embodiment, said connecting autonomously is done in a
stationary state, before forward movement of both the on-road
autonomous vehicle 10 and the target vehicle 10-target, in which
said forward movement by the target vehicle causes said
pulling.
[0140] In one embodiment, said mechanical hook or grabbing
mechanism 10-mech is a part of the on-road autonomous vehicle 10.
In one embodiment, the hook or grabbing mechanism 10-mech is a
moving hook. In one embodiment, the hook or grabbing mechanism
10-mech is a mechanical connector.
[0141] In one embodiment, the target vehicle 10-target is a second
on-road autonomous vehicle 10b (FIG. 9C), in which the second
on-road autonomous vehicle 10b synchronizes said autonomous
connection with the on-road autonomous vehicle 10 or 10a. In one
embodiment, said self driving, by the on-road autonomous vehicle 10
or 10a, into a position behind the target vehicle 10-target, is
done in conjunction with the second on-road autonomous vehicle 10b,
10-target also self driving into a position in front of the on-road
autonomous vehicle 10 or 10a.
[0142] In one embodiment, the dynamo 6d is an electrical engine of
the on-road autonomous vehicle 10, in which the electrical engine
is operated in a breaking mode, thereby facilitating said
generation of electrical energy.
[0143] In one embodiment, said identification is done so as to
identify the target vehicle 10-target as a vehicle currently
traveling in a direction similar to a direction desirable by the
on-road autonomous vehicle 10.
[0144] FIG. 10A illustrates one embodiment of an on-road autonomous
vehicle 10 carrying a passenger cabin 11.
[0145] FIG. 10B illustrates one embodiment of the on-road
autonomous vehicle 10 providing air gap protection 11-10-gap-1,
11-10-gap-2 to the passenger cabin 11.
[0146] FIG. 10C illustrates one embodiment of the on-road
autonomous vehicle 10 providing further air gap protection
11-10-gap-3, 11-10-gap-4, 11-10-gap-5, 11-10-gap-6 to the passenger
cabin 11.
[0147] One embodiment is a system operative to provide a hybrid
air-gap and mechanical protection for a passenger cabin. The system
includes a passenger cabin 11 (FIG. 10A), and an on-road autonomous
vehicle 10 (FIG. 10A) operative to straddle over a passenger cabin
11 and then to pick up the passenger cabin 11, such that the
passenger cabin 11 is carried underneath the on-road autonomous
vehicle 10 (FIG. 10A). The on-road autonomous vehicle 10 is
operative to mechanically enclose the passenger cabin 11 from at
least 4 (four) directions, such as to provide mechanical protection
from impact with foreign objects, in which said mechanical
protection is enhanced by maintaining air-gaps
11-10-gap-1,2,3,4,5,6 between the on-road autonomous vehicle 10 and
the passenger cabin 11 in conjunction with the at least 4 (four)
directions.
[0148] In one embodiment, said at least 4 (four) directions are
front, rear, left, and right, in which the front direction is
associated with one of the air-gaps 10-11-gap-5 (FIG. 10C) located
in front of the passenger cabin 11, the rear direction is
associated with one of the air-gaps 10-11-gap-3 (FIG. 10C) located
behind the passenger cabin 11, the left direction is associated
with one of the air-gaps 10-11-gap-1 (FIG. 10B) located to the left
of the passenger cabin 11, and the right direction is associated
with one of the air-gaps 10-11-gap-2 (FIG. 10B) located to the
right of the passenger cabin 11. In one embodiment, said at least 4
(four) directions are at least 5 (five) directions comprising also
an up direction associated with one of the air-gaps 10-11-gap-6
(FIG. 10C) located above the passenger cabin 11. In one embodiment,
said at least 5 (five) directions are 6 (directions) directions
comprising also a down direction associated with one of the
air-gaps 10-11-gap-4 (FIG. 10C) located below the passenger cabin
11.
[0149] FIG. 11A illustrates one embodiment of an on-road autonomous
vehicle 10 about to be hit by a foreign object 21. The on-road
autonomous vehicle 10 comprises a rear section 10-rear, a front
section 10-front, and a piston or spring 10-sp.
[0150] FIG. 11B illustrates one embodiment of the on-road
autonomous vehicle 10 being hit by the foreign object 21h.
[0151] One embodiment is a system operative to protect an on-road
vehicle from impact with foreign objects. The system includes a
front section 10-front (FIG. 11A) of an on-road vehicle 10 (FIG.
11A), in which the front section comprises two front wheels 1c, 1d
on which the on-road vehicle is supported. The system further
includes a rear section 10-rear (FIG. 11A) of the on-road vehicle
10, in which the rear section comprises two rear wheels 1a, 1b on
which the on-road vehicle is further supported, and in which the
front section 10-front is mechanically connected to the rear
section 10-rear so as to allow movement of the entire front section
10-front relative to the rear sections 10-rear. The system further
includes a passenger or cargo cabin 11 of the on-road vehicle 10,
in which the passenger or cargo cabin is mechanically connected to
the rear section 10-rear without touching the front section
10-front. The system further includes a linear horizontal actuator
or horizontal spring 10-sp (FIG. 11A) having two sides, in which
the linear horizontal actuator or horizontal spring is mechanically
connected to the front section 10-front on one side and to the rear
section 10-rear on the other side, and in which the linear
horizontal actuator or horizontal spring 10-sp is operative to
generate a reaction force pushing the front section 10-front away
from the rear section 10-rear when the front section moves toward
the rear section. During a collision of the front section 10-front
with a foreign object 21h (FIG. 11B), the front section 10-front
moves toward the rear section 10-rear (FIG. 11B), thereby causing
said reaction force to accelerate the rear section 10-rear away
from the foreign object 21h, and thereby avoiding a collision
between the passenger or cargo cabin 11 and the foreign object 21h
or at least reducing a relative velocity between the passenger or
cargo cabin 11 and the foreign object 21h. In one embodiment, the
linear horizontal actuator or horizontal spring is a piston.
[0152] One embodiment is an on-road vehicle operative to control a
length thereof. The an on-road vehicle includes a front section
10-front (FIG. 11A) of the on-road vehicle 10 (FIG. 11A), in which
the front section comprises two front wheels 1c, 1d on which the
on-road vehicle is supported. The on-road vehicle further includes
a rear section 10-rear (FIG. 11A) of the on-road vehicle 10, in
which the rear section comprises two rear wheels 1a, 1b on which
the on-road vehicle is further supported, and in which the front
section 10-front is mechanically connected to the rear section
10-rear so as to allow movement of the entire front section
10-front relative to the rear sections 10-rear. The on-road vehicle
further includes a linear horizontal actuator or a piston 10-sp
(FIG. 11A) having two sides, in which the linear horizontal
actuator or piston is mechanically connected to the front section
10-front on one side and to the rear section 10-rear on the other
side, and in which the linear horizontal actuator or piston 10-sp
is operative to adjust a distance between the front section
10-front and the rear section 10-rear so as to control a length of
the on-road vehicle.
[0153] In one embodiment, said length is adjusted to support loads
11 of different lengths to be carried by the on-road vehicle.
[0154] In one embodiment, said length is adjusted to support
compact length during parking of the on-road vehicle 10.
[0155] In one embodiment, said length is adjusted to support
extended length during high speed driving of the on-road vehicle 10
in order to protect a load 11 carried by the on-road vehicle by
increasing an air-gap 11-10-gap-5 (FIG. 10C) between the load 11
the front section 10-front.
[0156] FIG. 12A illustrates one embodiment of an on-road autonomous
vehicle 10 carrying a load 11 having a certain aerodynamic design
and extending beyond a length of the on-road autonomous
vehicle.
[0157] One embodiment is a combined vehicle-and-load arrangement
operative to reduce drag on the vehicle. The combined
vehicle-and-load arrangement includes an on-road autonomous vehicle
10 (FIG. 12A) having a first aerodynamic drag coefficient and a
load 11 (FIG. 12A) having a certain aerodynamic design. The on-road
autonomous vehicle 10 is configured to straddle autonomously over
the load 11, thereby allowing the on-road autonomous vehicle 10 to
grab and lift autonomously the load 11 above ground in a linear
upward movement that creates a full clearance of the load above
ground. The combined vehicle-and-load arrangement 10+11 of the
on-road autonomous vehicle together with the load now lifted is
operative to reduce the first aerodynamic drag coefficient of the
on-road autonomous vehicle.
[0158] FIG. 12B illustrates one embodiment of a method for
adjusting an on-road autonomous vehicle to carry a long load. In
step 1091, straddling autonomously, by an on-road autonomous
vehicle 10 having a certain length 10-L (FIG. 12), over a load 11
having a greater length 11-L (FIG. 12), thereby allowing the
on-road autonomous vehicle 10 to grab and lift autonomously the
load 11 above ground in a linear upward movement that creates a
full clearance of the load above ground, and resulting in the load
11 extending beyond said certain length 10-L. In step 1092,
detecting, by sensors 4a, 4b, 4c (FIG. 12) belonging to the on-road
autonomous vehicle 10, said extension of the load 11 beyond said
certain length 10-L. In step 1093, altering, according to said
detection, at least a first parameter in conjunction with an
autonomous driving procedure of the on-road autonomous vehicle,
thereby adapting the on-road autonomous vehicle 10 to self-drive
with the load 11 extending beyond said certain length 10-L.
[0159] In one embodiment, the first parameter is an effective
length of the on-road autonomous vehicle, in which said effective
length is increased from the certain length 10-L to the greater
length 11-L.
[0160] One embodiment is a system operative to autonomously collect
and transport a passenger 30 in a cabin 11 (FIG. 5C), comprising:
an autonomous on-road vehicle 10 operative to straddle over (FIG.
3B, and the transition from FIG. 3A to FIG. 3B) loads 11 such as
cabins operative to contain passengers 30 (FIG. 5C); and a cabin 11
operative to contain passengers 30 (FIG. 5B), in which the cabin 11
is currently located at a certain parking location without any
passengers inside (the cabin 11 as shown in FIG. 5B, but without
the passenger 30 inside); wherein, the system is configured to:
receive a request to collect-and-transport a passenger 30 which is
currently located or is soon-to-be-located in a pick-up location;
self-drive, as a response to said request, the on-road autonomous
vehicle 10, to said certain parking location; upon arrival of the
on-road autonomous vehicle 10 to said certain parking location:
straddle autonomously (FIG. 3B, and the transition from FIG. 3A to
FIG. 3B), the on-road autonomous vehicle 10, over the cabin 11,
thereby allowing the on-road autonomous vehicle 10 to grab and lift
autonomously (the transition between FIG. 3C and FIG. 3D) the cabin
11; self-drive the on-road autonomous vehicle 10 to said pick-up
location, while the cabin 11 is hanging underneath the on-road
autonomous vehicle; and pick-up the passenger 30 (FIG. 5C) at the
pick-up location.
[0161] One embodiment is a system operative to transport passengers
in a cabin and also transport cargo loads, comprising: an
autonomous on-road vehicle 10 operative to straddle over (FIG. 3A,
FIG. 3B) loads 11 such as cabins operative to contain passengers
and such as cargo loads; a cabin 11 operative to contain passengers
30 (FIG. 5C), in which the cabin is currently located at a certain
parking location; and a cargo load 11 (FIG. 2C); wherein, the
system is configured to: autonomously transport the cargo load 11
(FIG. 4B), using the autonomous on-road vehicle 10, to a certain
location; autonomously release the cargo load 11 at the certain
location (the transition from FIG. 3D to FIG. 3C to FIG. 3B and to
FIG. 3A); self-drive the on-road autonomous vehicle 10 (FIG. 2A),
which is now free of the cargo load, to the certain parking
location; upon arrival of the on-road autonomous vehicle 10 to said
certain parking location: straddle autonomously, the on-road
autonomous vehicle, over the cabin, thereby allowing the on-road
autonomous vehicle to grab and lift autonomously the cabin;
self-drive the on-road autonomous vehicle to a pick-up location,
while the cabin is hanging underneath the on-road autonomous
vehicle; and pick-up a passenger at the pick-up location (FIG. 5C)
into the cabin.
[0162] One embodiment is a system operative to transport both
passengers in a towed cabin and towed cargo loads, comprising: an
autonomous on-road vehicle operative to tow loads such as towed
cabins operative to contain passengers and such as towed cargo
loads; a towed cabin operative to contain passengers, in which the
towed cabin is currently located at a certain parking location; and
a towed cargo load; wherein, the system is configured to:
autonomously transport the towed cargo load, using the autonomous
on-road vehicle, to a certain location; autonomously release the
towed cargo load at the certain location; self-drive the on-road
autonomous vehicle, which is now free of the towed cargo load, to
the certain parking location; upon arrival of the on-road
autonomous vehicle to said certain parking location: connect the
towed cabin, thereby allowing the on-road autonomous vehicle to
autonomously tow the towed cabin; self-drive the on-road autonomous
vehicle to a pick-up location, while the towed cabin is hanging
behind the on-road autonomous vehicle; and pick-up a passenger at
the pick-up location into the cabin.
[0163] FIG. 13A illustrates one embodiment of an on-road autonomous
vehicle 10 currently integrated with a first object 11-obj-1 having
drawers 11-drawer that are presently closed. The drawers 11-drawer
may contain packages to be delivered or other items to be delivered
and/or stored. The on-road autonomous vehicle 10 is operative to
self-integrate with the first object 11-obj-1, thereby creating a
first resultant vehicle 10+11-obj-1 that is the combination of both
the autonomous vehicle 10 and the first object 11-obj-1 and that
has a first specific purpose, in which such a first specific
purpose may be the delivery of packages. For example, the first
resultant vehicle 10+11-obj-1 may self drive to a logistics center,
load the drawers 11-drawer with packages, and then self-drive with
the packages onboard to several delivery destinations, in which
each of the drawers 11-drawer gets open as the resultant vehicle
10+11-obj-1 arrives at the designated delivery destination, and the
respective package is then picked up, perhaps by a certain person
who ordered the respective package. Self integration of on-road
autonomous vehicle 10 with the first object 11-obj-1 facilitates
the first specific purpose of package delivery by: (i) combining
the features of both the on-road autonomous vehicle 10 and the
first object 11-obj-1 in creation of a combined set of features
that facilitates self package delivery, and (ii) maintaining
cooperation/communication between the on-road autonomous vehicle 10
and the first object 11-obj-1 during the different phases of
package delivery. For example, self-driving the first resultant
vehicle 10+11-obj-1 to the logistics center is based on sensors
(e.g., 4a, 4b, 4c, FIG. 1A) and self-driving directives embedded in
the on-road autonomous vehicle 10, but loading packages into the
drawers 11-drawer requires further cooperation and communication
with the first object 11-obj-1, for example when the sensors
onboard the on-road autonomous vehicle 10 conclude that the first
resultant vehicle 10+11-obj-1 is in the correct loading spot in the
logistics center and consequently the on-road autonomous vehicle 10
instructs the first object 11-obj-1 to open all drawers 11-drawer
thereby allowing the loading of packages into the first object
11-obj-1. When the drawers 11-drawer are loaded with packages, the
first resultant vehicle 10+11-obj-1 again uses sensors and
directives embedded in the on-road autonomous vehicle 10 to self
drive to several delivery locations. Upon arrival to a certain
delivery location, the sensors 4a, 4b, 4c onboard on-road
autonomous vehicle 10 can be used again to identify a specific
person to whom one of the packages is intended, and the on-road
autonomous vehicle 10 can then order a particular one of the
drawers 11-drawer in the first object 11-obj-1 to open up and allow
this person access to the respective package. As is evident from
the above example, a synergy is created between the on-road
autonomous vehicle 10 and the first object 11-obj-1, in which such
a synergy is the result of a deep integration between the on-road
autonomous vehicle 10 and the first object 11-obj-1, which now
operate together as a synchronized and managed single resultant
vehicle 10+11-obj-1. It is noted that after said self integration
of (i.e., deep integration between) the on-road autonomous vehicle
10 and the first object 11-obj-1, the resultant vehicle 10+11-obj-1
has a resultant specific outer shape, for example by now including
drawers 11-drawer that are accessible to people standing alongside
the resultant vehicle 10+11-obj-1, in which such a resultant
specific outer shape is critical for achieving the first specific
purpose of package delivery. In one embodiment, an interface
5-int-1 is included in the on-road autonomous vehicle 10, in which
maintaining the cooperation and communication between the on-road
autonomous vehicle 10 and the first object 11-obj-1 is done via
such interface. The interface 5-int-1 may support power transfer,
such as electricity, from the on-road autonomous vehicle 10 to the
first object 11-obj-1 and vice versa, and may further support data
communication between the two, in which commands can be relayed
trough such interface and sensory data can be shared. In one
embodiment, the self integration of the on-road autonomous vehicle
10 with the first object 11-obj-1 is achieved via a straddling
process, in which the on-road autonomous vehicle 10 straddles over
the first object 11-obj-1, lowers itself or a connector thereof
5-cnct, grabs the first object 11-obj-1, and lifts the first object
11-obj-1, as described by the sequence shown in FIG. 3A, FIG. 3B.
FIG. 3C, FIG. 3D, and in which the first object 11-obj-1 is
represented by the label 11.
[0164] FIG. 13B illustrates one embodiment of the on-road
autonomous vehicle 10 still integrated with the first object
11-obj-1 and getting one of the drawers 11-drawer opened, perhaps
for loading or unloading a package into the drawer 11-drawer.
[0165] FIG. 14A illustrates one embodiment of an on-road autonomous
vehicle 10 currently integrated with a second object 11-obj-2
having a door 11-door that is presently closed. The door 11-door
may allow passengers to get in and out of object 11-obj-2, which
may be a passenger cabin. The on-road autonomous vehicle 10 is
operative to self-integrate with the second object 11-obj-2,
thereby creating a second resultant vehicle 10+11-obj-2 that is the
combination of both the autonomous vehicle 10 and the second object
11-obj-2 and that has a second specific purpose, in which such a
second specific purpose may be transporting passengers in
conjunction with a taxi service. For example, the second resultant
vehicle 10+11-obj-2 may self drive to a pick-up destination, in
which the door 11-door gets open as the second resultant vehicle
10+11-obj-2 arrives at the pick-up destination, and a passenger can
then get into the passenger cabin 11-obj-2. Self integration of
on-road autonomous vehicle 10 with the second object 11-obj-2
facilitates the second specific purpose of transporting passengers
by: (i) combining the features of both the on-road autonomous
vehicle 10 and the second object 11-obj-2 in creation of a combined
set of features that facilitates self transporting of passengers,
and (ii) maintaining cooperation/communication between the on-road
autonomous vehicle 10 and the second object 11-obj-2 during the
different phases of transporting passengers. For example,
self-driving the second resultant vehicle 10+11-obj-2 to the
pick-up location is based on sensors (e.g., 4a, 4b, 4c, FIG. 1A)
and self-driving directives embedded in the on-road autonomous
vehicle 10, but letting a passenger get onboard the passenger cabin
11-obj-2 by opening the door 11-door requires further cooperation
and communication with the second object 11-obj-2, for example when
the sensors onboard the on-road autonomous vehicle 10 conclude that
the second resultant vehicle 10+11-obj-2 is in the correct address
and further recognizes the passenger to be picked-up, then
consequently the on-road autonomous vehicle 10 instructs the second
object 11-obj-2 to open the door 11-door thereby allowing the
recognized passenger in. As is evident from the above example, a
different synergy is created between the on-road autonomous vehicle
10 and the second object 11-obj-2 (as compared to the synergy
created with the first object 11-obj-1), in which such a different
synergy is the result of a deep integration between the on-road
autonomous vehicle 10 and the second object 11-obj-2, which now
operate together as a differently synchronized and managed single
second resultant vehicle 10+11-obj-2. It is noted that after said
self integration of the on-road autonomous vehicle 10 and the
second object 11-obj-2, the second resultant vehicle 10+11-obj-2
has a second resultant specific outer shape (as compared to the
first resultant outer shape in conjunction with the first object
11-obj-1), for example by now including a door 11-door that is
located at the right height allowing passengers in the resultant
second vehicle 10+11-obj-2, in which such a second resultant
specific outer shape is critical for achieving the second specific
purpose of transporting passengers. In one embodiment, the self
integration of the on-road autonomous vehicle 10 with the second
object 11-obj-2 is achieved via a straddling process, in which the
on-road autonomous vehicle 10 straddles over the second object
11-obj-2, lowers itself or a connector thereof 5-cnct, grabs the
second object 11-obj-2, and lifts the second object 11-obj-2, as
described by the sequence shown in FIG. 3A, FIG. 3B. FIG. 3C, FIG.
3D, and in which the second object 11-obj-2 is represented by the
label 11. In one embodiment, the self integration of the on-road
autonomous vehicle 10 with the second object 11-obj-2 is done after
de-integrating the on-road autonomous vehicle 10 with the first
object 11- obj-1, which may be achieved autonomously using a
straddling-off process, in which the on-road autonomous vehicle 10
lowers the second object 11-obj-2, and straddles off the second
object 11-obj-2, as can be visualized by "playing in reverse" the
sequence shown in FIG. 3A, FIG. 3B. FIG. 3C, FIG. 3D, i.e.,
starting from FIG. 3D and ending with FIG. 3A.
[0166] FIG. 14B illustrates one embodiment of the on-road
autonomous vehicle 10 still integrated with the second object
11-obj-2 and getting the door 11-door opened, perhaps for letting
passengers get into and out of the passenger cabin 11-obj-2.
[0167] One embodiment is a system operative to autonomously alter
functionality of an on-road vehicle. The system includes: an
on-road vehicle 10 (FIG. 13A, FIG. 13B, FIG. 14A, FIG. 14B),
operative to straddle over objects 11; a first object 11-obj-1
(FIG. 13A, FIG. 13B) operative to facilitate a first function when
integrated with the on-road vehicle 10, in which the first object
11-obj-1 is currently integrated with the on-road vehicle 10 (as
shown in FIG. 13A, FIG. 13B), thereby currently enabling the
on-road vehicle 10 together with the first object 11-obj-1 to
perform said first function; and a second object 11-obj-2 (FIG.
14A, FIG. 14B) operative to facilitate a second function when
integrated with the on-road vehicle 10, in which the second object
11-obj-2 is currently located at a certain location (e.g., at
location 20-p as shown in FIG. 2B, in which object 11-obj-2 is
represented by the label 11).
[0168] In one embodiment, as a response to a specific request
received in the system, the system is configured to autonomously
alter functionality of the on-road vehicle 10 from a first
functionality associated with the first function into a different
functionality associated with the second function, in which as a
part of said autonomous alteration and said response, the on-road
vehicle is configured to: release autonomously the first object
11-obj-1; self drive from a current location of the on-road vehicle
10 to said certain location 20-p of the second object 11-obj-2;
upon arrival to said certain location 20-p: straddle autonomously
over the second object 11-obj-2 (e.g., as shown in FIG. 3A, FIG.
3B, in which object 11-obj-2 is represented by the label 11),
thereby allowing the on-road vehicle 10 to grab and lift
autonomously the second object 11-obj-2 above ground (e.g., as
shown in FIG. 3C, FIG. 3D), thereby integrating autonomously the
second object 11-obj-2 with the on-road vehicle 10; and perform
said second function in conjunction with the second object 11-obj-2
now integrated with the on-road 10 vehicle (as shown in FIG. 14A,
14B).
[0169] In one embodiment, the first object 11-obj-1 is essentially
a first type of container having a surface with a first type of
interface 11-drawer (FIG. 13A, FIG. 13B), in which the first type
of interface is operative to facilitate a certain first way of
interfacing with people; and the second object 11-obj-2 is
essentially a second type of container having a surface with a
second type of interface 11-door (FIG. 14A, FIG. 14B), in which the
second type of interface is operative to facilitate a certain
second way of interfacing with people.
[0170] In one embodiment, the first type of container 11-obj-1 is a
container operative to contain packages in drawers 11-drawer; the
first function is autonomous package delivery; the first type of
interface is associated with at least one of the drawers 11-drawer
getting opened (FIG. 13A, FIG. 13B); the first way of interfacing
with people comprises people accessing the drawers 11-drawer and
collecting a package delivered by the on-road vehicle 10; and the
first function of autonomous package delivery is facilitated by
said integration of the first object 11-obj-1 with the on-road
vehicle 10, in which said integration enables the system to both:
(i) facilitate said delivery by driving autonomously the on-road
vehicle 10 with packages onboard, and (ii) facilitate said
collection of the packages by people accessing the drawers
11-drawer.
[0171] In one embodiment, the second type of container 11-obj-2 is
a container operative to accommodate passengers; the second
function is an autonomous taxi service; the second type of
interface is associated with a door 11-door (FIG. 14A, FIG. 14B)
operative to allow the passengers getting into and out-of the
second type of container 11-obj-2; the second way of interfacing
with people comprises people opening and closing the door 11-door;
and the second function of autonomous taxi service is facilitated
by said integration autonomously of the second object 11-obj-2 with
the on-road vehicle 10, in which said integration autonomously
enables the system to both: (i) facilitate said taxi service by
autonomously transporting the passengers by the on-road vehicle 10
and in conjunction with the second object 11-obj-2, and (ii)
further facilitate said taxi service by said allowing the
passengers to get into and out-of the second type of container
11-obj-2 using the door 11-door.
[0172] In one embodiment, said lifting autonomously of the second
object 11-obj-2 above ground is done so as to position the door
11-door at a certain height above ground that is operative to allow
said passengers getting into and out-of the second type of
container 11-obj-2, in which said certain height is between 20
(twenty) centimeters and 70 (seventy) centimeters above ground.
[0173] In one embodiment, the second object 11-obj-2 is selected
from a group consisting of: (i) a container operative to contain
packages in drawers 11-drawer, in which the second function is
autonomous package delivery, (ii) a container operative to
accommodate passengers 30 (FIG. 5B), in which the second function
is a taxi service, (iii) a container operative to contain a load,
in which the second function is transporting loads, (iv) a power
source such as battery (e.g., 11-func, FIG. 7B), a fuel cell, and a
generator, in which the second function is charging the on-road
vehicle 10 while on the move, (v) a mobile vending machine, in
which the second function is selling goods at different locations,
(vi) a tank, in which the second function is transporting
substances such as liquids and compressed gas, (vii) transportable
electronic communication equipment such as a radio access network
(RAN), in which the second function is providing electronic
communication services from different locations.
[0174] In one embodiment, the on-road vehicle 10 comprises: an
upper horizontal structure 3a, 3b, 3c (FIG. 1A) elevated above
ground by vertical structures 2a, 2a', 2b, 2b', 2c, 2c', 2d, 2d'
(FIG. 1A) mounted on at least four wheels 1a, 1b, 1c, 1d (FIG. 1A)
touching ground 9-gound, so as to create a certain clearance 9-clr
above ground for at least a first connector 5-cnct associated with
the upper horizontal structure 3b and attached thereunder; a
control sub-system 4, 6, 7, 8 comprising a processing unit 8 (FIG.
1D) and a plurality of sensors 4a, 4b, 4c (FIG. 1A) and actuators
6, 7 (FIG. 1D), in which the control sub-system is configured to
generate, in real-time, a three-dimensional representation of
surrounding environment using data collected by the plurality of
sensors; and at least a first linear actuator 2'+2 (2' moving up
and down relative to 2, i.e., 2a' moving relative to 2a, 2b' moving
relative to 2b, 2c' moving relative to 2c, and 2d' moving relative
to 2d, FIG. 1A) configured to control and set said certain
clearance 9-clr of the first connector 5-cnct, by causing the first
connector, or the entire upper horizontal structure 3a, 3b, 3c
including the first connector, to move up or down relative to
ground 9-gound. In one embodiment, the control sub-system 4, 6, 7,
8 is further configured to use said three-dimensional
representation, said actuators 6, 7, and said processing unit 8 in
conjunction with a set of public-road self-driving directives, to:
(i) facilitate said self-driving (FIG. 2A, FIG. 2B) of the on-road
vehicle 10, over public roads 20a (FIG. 2A), 20b (FIG. 2B) and
alongside regular car traffic 21a, 21b, 21c, 21d, 21e, 21f (FIG.
2A, FIG. 2B, FIG. 2C), to said certain location 20-p, (ii) position
the on-road autonomous vehicle 10 in front of the second object
11-obj-2 (11 in FIG. 2C, FIG. 3A), and (iii) facilitate said
straddling of the on-road vehicle 10 over the second object
11-obj-2 (11 in FIG. 3B), such that said first connector 5-cnct is
brought to a predetermined position 5-pos over the second object
11-obj-2 (11 in FIG. 3B); and the control sub-system 4, 6, 7, 8 is
further configured to use the first linear actuator 2'+2 to: (i)
facilitate said grabbing by lowering the first connector 5-cnct
into mechanical contact with the second object 11-obj-2 (11 in FIG.
3C) thereby allowing the connector to connect to or otherwise grab
the second object, and (ii) facilitate said lifting by lifting
(FIG. 3D) the second object 11-obj-2 above ground into a position
operative to self-transport the second object.
[0175] In one embodiment, said first liner actuator 2'+2 is a
distributed linear actuator comprising several sub-actuators 2a,
2a', 2b, 2b', 2c, 2c', 2d, 2d' (FIG. 1A), in which each
sub-actuator is associated with one of the wheels 1a, 1b, 1c, 1d
(FIG. 1A), such that the entire upper horizontal structure 3a, 3b,
3c is operative to move up and down relative to the wheels 1a, 1b,
1c, 1d and ground 9-ground, in which the linear actuators 2'+2 are
also operative to act as springs/mechanical dumpers for the wheels
1a, 1b, 1c, 1d relative to the upper horizontal structure 3a, 3b,
3c.
[0176] In one embodiment, said first liner actuator 2'+2 is
embedded in the first connector 5-cnct, thereby causing only the
connector to move up and down relative to ground 9-ground, and such
that the upper horizontal structure 3a, 3b, 3c remains in
place.
[0177] In one embodiment, said integration of the first object
11-obj-1 with the on- road vehicle 10 was previously achieved by
the on-road vehicle by performing a previous autonomous maneuver as
a response to a particular request received in the system, in which
as part of the previous autonomous maneuver, the on-road vehicle 10
is configured to: self drive from a previous location of the
on-road vehicle to a specific location at which the first object
11-obj-1 is located; upon arrival to said specific location:
straddle autonomously over the first object 11-obj-1, thereby
allowing the on- road vehicle 10 to grab and lift autonomously the
first object above ground, thereby facilitating said integration of
the first object 11-obj-1 with the on-road vehicle 10.
[0178] In one embodiment, as a part of said releasing autonomously
of the first object 11-obj-1, the on-road vehicle 10 is configured
to: (i) lower the first object, (ii) un-grab the first object and
(iii) straddle off the first object.
[0179] In one embodiment, said autonomously altering of
functionality is facilitated by a combination of different
autonomous functions working in synchronization, in which said
combination of different autonomous functions comprises: (i) said
self- driving, thereby allowing the on-road vehicle 10 to
autonomously access the second object 11-object-2, (ii) said
straddling autonomously, thereby allowing the on-rod vehicle 10 to
self-align with the second object 11-object-2, and (iii) said
grabbing and lifting autonomously of the second object 11-object-2,
thereby allowing the on-rod vehicle 10 to self-integrate with the
second object, in which said autonomously altering of functionality
is further facilitated by an ability of the on-road vehicle 10 to
straddle over the respective objects 11-object-1, 11-object-2, and
in which said autonomously altering of functionality comprises at
least said alteration of functionality taking place without relying
on external support such as support from people for driving,
support from people for lifting and displacing/aligning loads, and
support from external mechanical devices for lifting and
displacing/aligning loads; and said autonomously altering of
functionality is further facilitated by the on-road vehicle
eclectically interfacing 5-int-1 with the respective objects, in
which: said electrically interfacing is done in conjunction with
said grabbing of the respective object; said electrically
interfacing comprises at least one of: (i) supplying electrical
power to the respective object, (ii) supplying communication
services to the respective object, and (iii) supplying sensory
information to the respective object, thereby allowing the
respective object to better interact with people in conjunction
with accomplishing the respective functionality; and said
electrically interfacing 5-int-1 is a part of said integration.
[0180] In one embodiment, said autonomously altering of
functionality comprises switching/changing/modifying autonomy mode
by the on-road vehicle, from a first autonomy mode into a second
autonomy mode, in which the first autonomy mode is operative to
support a first automatic on-road behavior that facilitates the
first function, and the second autonomy mode is operative to
support a second and different automatic on-road behavior that
facilitates the second function, in which said switching/changing
of the autonomy mode is a part of said integration. In one
embodiment, the first object 11-obj-1 is a container operative to
contain packages in drawers 11-drawer; the first function is
autonomous package delivery; and the first autonomy mode is a mode
that automatically facilitates arriving with the packages to a
vicinity of people and enabling the people to access the drawers
11-drawer and collect a package delivered by the on- road vehicle
10. In one embodiment, the second object 11-obj-2 is a container
operative to accommodate passengers; the second function is an
autonomous taxi service; and the second autonomy mode is a mode
that facilitates said taxi service by autonomously transporting the
passengers by the on-road vehicle 10, and autonomously allowing the
passengers to get into and out-of the second type of container
11-obj-2 using a door 11-door.
[0181] FIG. 15 illustrates one embodiment of a method for
autonomously altering functionality of an on-road vehicle. The
method includes: In step 1101, performing a first function by an
on-road vehicle 10, in which the first function is performed by the
on-road vehicle in conjunction with a first object 11-obj-1 that is
currently integrated with the on-road-vehicle and that is operative
to facilitate said first function. In step 1102, receiving, in
conjunction with the on-road vehicle 10, a request associated with
altering functionality of the on-road vehicle from a first
functionality associated with the first function into a different
functionality associated with a second function. In step 1103.
releasing autonomously the first object 11-obj-1 by the on-road
vehicle 10 as a response to said request. In step 1104, self
driving by the on-road vehicle 10, as a further response to said
request, from a current location of the on-road vehicle to a
certain location at which a second object 11-obj-2 is located, in
which the second object is associated with said different
functionality. In step 1105, upon arrival to said certain location:
(i) straddling autonomously, by the on-road vehicle 10, over the
second object 11-obj-2, (ii) grabbing and lifting, autonomously,
the second object 11-obj-2 above ground by the on-road vehicle 10,
and thereby autonomously integrating the second object 11-obj-2
with the on-road vehicle 10. In step 1106, performing said second
function by the on-road vehicle in conjunction with the second
object 11-obj-2 now integrated with the on-road vehicle 10.
[0182] In one embodiment, the method further comprises: receiving,
in conjunction with the on-road vehicle 10, and prior to said
performing of the first function, a prior request associated with
altering functionality of the on-road vehicle into the first
functionality associated with the first object 11-obj-1; self
driving by the on-road vehicle 10, as a response to said prior
request, from a previous location of the on-road vehicle to a
particular location at which the first object 11-obj-1 is located;
and upon arrival to said particular location: (i) straddling
autonomously, by the on-road vehicle 10, over the first object
11-obj-1, (ii) grabbing and lifting, autonomously, the first object
11-obj-1 above ground by the on-road vehicle 10, thereby
facilitating said integration of the first object 11-obj-1 with the
on-road vehicle 10 and said performing of the first function by the
on-road vehicle 10.
[0183] In one embodiment, said releasing autonomously of the first
object 11-obj-1 by the on-road vehicle 10 comprises: lowering the
first object 11-obj-1 by the on-road vehicle 10; un-grabbing the
first object 11-obj-1 by the on-road vehicle 10; and straddling off
the first object 11-obj-1 by the on-road vehicle 10.
[0184] One embodiment is a system operative to respond to a dynamic
demand for various functions by autonomously altering shape and
functionality of on-road vehicles. The system includes: a fleet of
on-road vehicles comprising a plurality of on-road vehicles such as
vehicle 10, in which each of the on-road vehicles 10 is configured
to autonomously-upon-demand pick-up and integrate-with various
objects 11-obj-1, 11- obj-2; and a pool of objects 11-obj-1,
11-obj-2 comprising said various objects, in which each of the
objects is associated with a respective functionality, thereby
collectively supporting a variety of functionalities, and in which
there are more objects 11-obj-1, 11-obj-2 in the pool than on-road
vehicles 10 in the system.
[0185] In one embodiment, the system is configured to: determine
current demands for various functionalities; determine, based on
said current demands, a new assignment of functionalities for at
least some of the on-road vehicles 10, in which said new assignment
is expected to allow the fleet of on-road vehicles to better
respond to the demands; and per each of the on-road vehicles 10 for
which a new assignment of functionality was determined, the on road
vehicle 10 is configured to: (i) release one of the objects
11-obj-1 that is currently integrated therewith, (ii) self drive
from a current location of the on-road vehicle 10 to a location of
parking of another one of the objects 11-obj-2 that is associated
with the respective functionality newly assigned, and (iii) upon
arrival to the location of parking: straddle autonomously over the
another object 11-obj-2, thereby allowing the on-road vehicle 10 to
grab and lift autonomously said another object 11-obj-2 above
ground, and thereby integrating autonomously the another object
11-obj-2 with the on-road vehicle 10, thus embedding in the on-road
vehicle 10 the respective functionality newly assigned.
[0186] In one embodiment, per each of the on-road vehicles 10 for
which a new assignment of functionality was determined: said
integrating autonomously of the respective another object 11-obj-2
with the on-road vehicle 10 results in an alteration of an outer
shape of the on-road vehicle 10 from a previous outer shape
associated with the respective previously integrated object
11-obj-1 into a new outer shape associated with the respective
newly integrated object 11-obj-2.
[0187] In one embodiment, said alteration of the outer shape
facilitates said new functionality assigned.
[0188] In one embodiment, said previous outer shape is associated
with a first outer interface (e.g., 11-drawer) in the previously
integrated object 11-obj-1, in which said first outer interface is
associated with a first way of interacting with people; and said
new outer shape is associated with a second outer interface (e.g.,
11-door) in the newly integrated object 11-obj-2, in which said
second outer interface is associated with a second way of
interacting with people.
[0189] FIG. 16 illustrates several embodiments of on-road
autonomous vehicles having several different sizes respectively. A
large on-road autonomous vehicle 10-large is operative to straddle
over and pick up large-sized containers/loads 11-large, in which
large-sized containers are containers having at least one dimension
(e.g., length) that is longer than 2 (two) meters, and in which
such containers are operative to be used in conjunction with
various functions, such as transporting passengers and
transporting/delivering packages. A medium on-road autonomous
vehicle 10-medium is operative to straddle over and pick up
medium-sized containers/loads 11-medium, in which medium-sized
containers are containers having at least one dimension between 1
(one) meter and 2 (two) meters, and in which such containers are
operative to be used in conjunction with various functions, such as
transporting/delivering groceries and packages. A small on-road
autonomous vehicle 10-small is operative to straddle over and pick
up small-sized containers/loads 11-small, in which small-sized
containers are containers having at least one dimension between 50
(fifty) centimeters and 1 (one) meter, and in which such containers
are operative to be used in conjunction with various functions,
such as transporting/delivering packages and delivering food. In
one embodiment, the small load 11-small is, by itself, a package
being delivered by the small on-road autonomous vehicle 10-small. A
tiny on-road autonomous vehicle 10-tiny is operative to straddle
over and pick up tiny containers/loads 11-tiny, in which tiny
containers are containers having at least one dimension between 20
(twenty) centimeters and 50 (fifty) centimeters, and in which such
containers are operative to be used in conjunction with various
functions, such as transporting/delivering packages, documents, and
medicine. In one embodiment, the tiny load 11-tiny is, by itself, a
package being delivered by the small on-road autonomous vehicle
10-small.
[0190] In this description, numerous specific details are set
forth. However, the embodiments/cases of the invention may be
practiced without some of these specific details. In other
instances, well-known hardware, materials, structures and
techniques have not been shown in detail in order not to obscure
the understanding of this description. In this description,
references to "one embodiment" and "one case" mean that the feature
being referred to may be included in at least one embodiment/case
of the invention. Moreover, separate references to "one
embodiment", "some embodiments", "one case", or "some cases" in
this description do not necessarily refer to the same
embodiment/case. Illustrated embodiments/cases are not mutually
exclusive, unless so stated and except as will be readily apparent
to those of ordinary skill in the art. Thus, the invention may
include any variety of combinations and/or integrations of the
features of the embodiments/cases described herein. Also herein,
flow diagrams illustrate non-limiting embodiment/case examples of
the methods, and block diagrams illustrate non-limiting
embodiment/case examples of the devices. Some operations in the
flow diagrams may be described with reference to the
embodiments/cases illustrated by the block diagrams. However, the
methods of the flow diagrams could be performed by
embodiments/cases of the invention other than those discussed with
reference to the block diagrams, and embodiments/cases discussed
with reference to the block diagrams could perform operations
different from those discussed with reference to the flow diagrams.
Moreover, although the flow diagrams may depict serial operations,
certain embodiments/cases could perform certain operations in
parallel and/or in different orders from those depicted. Moreover,
the use of repeated reference numerals and/or letters in the text
and/or drawings is for the purpose of simplicity and clarity and
does not in itself dictate a relationship between the various
embodiments/cases and/or configurations discussed. Furthermore,
methods and mechanisms of the embodiments/cases will sometimes be
described in singular form for clarity. However, some
embodiments/cases may include multiple iterations of a method or
multiple instantiations of a mechanism unless noted otherwise. For
example, when a controller or an interface are disclosed in an
embodiment/case, the scope of the embodiment/case is intended to
also cover the use of multiple controllers or interfaces.
[0191] Certain features of the embodiments/cases, which may have
been, for clarity, described in the context of separate
embodiments/cases, may also be provided in various combinations in
a single embodiment/case. Conversely, various features of the
embodiments/cases, which may have been, for brevity, described in
the context of a single embodiment/case, may also be provided
separately or in any suitable sub-combination. The
embodiments/cases are not limited in their applications to the
details of the order or sequence of steps of operation of methods,
or to details of implementation of devices, set in the description,
drawings, or examples. In addition, individual blocks illustrated
in the figures may be functional in nature and do not necessarily
correspond to discrete hardware elements. While the methods
disclosed herein have been described and shown with reference to
particular steps performed in a particular order, it is understood
that these steps may be combined, sub-divided, or reordered to form
an equivalent method without departing from the teachings of the
embodiments/cases. Accordingly, unless specifically indicated
herein, the order and grouping of the steps is not a limitation of
the embodiments/cases. Embodiments/cases described in conjunction
with specific examples are presented by way of example, and not
limitation. Moreover, it is evident that many alternatives,
modifications and variations will be apparent to those skilled in
the art. Accordingly, it is intended to embrace all such
alternatives, modifications and variations that fall within the
spirit and scope of the appended claims and their equivalents.
* * * * *